COOPERATIVE MAPPING FOR AUTONOMOUS VEHICLES, ROBOTS OR MULTI-AGENT SYSTEMS
First Claim
1. A system on a chip (SoC), comprising:
- a control logic subsystem associated with a first agent, the control logic subsystem configured to receive (i) a generated initial point cloud list associated with an online map that is shared with a second agent operating within the same environment as the first agent, the points in the initial point cloud list being mapped based upon sensor data provided by the first agent, and (ii) one or more messages transmitted by the second agent; and
a contextual map subsystem associated with the first agent, the contextual map subsystem being configured to (i) process the one or more messages transmitted by the second agent to identify voxel changes within the generated initial point cloud list identified by the second agent, and (ii) update the points in the initial point cloud list in accordance with the identified voxel changes as indicated in the one or more messages to generate an updated online map.
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Accused Products
Abstract
Techniques are disclosed to facilitate cooperative mapping for safe and efficient trajectory planning and collision avoidance by allowing nearby agents to share contextual information. The described techniques also function to extend the mapping range of a single agent by leveraging observations made by multiple agents. Furthermore, the techniques as described herein function to reduce uncertainty in trajectory planning by allowing agents to “see” behind occlusions, thus taking advantage of observations made by neighboring agents from different points of view. An efficient hardware implementation of the system is also presented that leverages the methodologies as discussed herein.
3 Citations
20 Claims
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1. A system on a chip (SoC), comprising:
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a control logic subsystem associated with a first agent, the control logic subsystem configured to receive (i) a generated initial point cloud list associated with an online map that is shared with a second agent operating within the same environment as the first agent, the points in the initial point cloud list being mapped based upon sensor data provided by the first agent, and (ii) one or more messages transmitted by the second agent; and a contextual map subsystem associated with the first agent, the contextual map subsystem being configured to (i) process the one or more messages transmitted by the second agent to identify voxel changes within the generated initial point cloud list identified by the second agent, and (ii) update the points in the initial point cloud list in accordance with the identified voxel changes as indicated in the one or more messages to generate an updated online map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A non-transitory computer-readable media associated with a first agent having instructions stored thereon that, when executed by one or more processors, cause the first agent to:
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map points in an initial point cloud list associated with an online map that is shared with a second agent operating within the same environment as the first agent, the points in the initial point cloud list being mapped based upon sensor data provided by the first agent; receive one or more messages from the second agent identifying voxel changes included in the online map that was mapped by the first agent; and update the points in the initial point cloud list in accordance with the identified voxel changes as indicated in the one or more messages to generate an updated online map. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A non-transitory computer-readable media associated with a first agent having instructions stored thereon that, when executed by one or more processors, cause the first agent to:
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select a parent voxel from an initial point cloud list associated with an online map that is shared with a second agent operating within the same environment as the first agent, the points in the initial point cloud list being mapped based upon sensor data provided by the first agent; generate a message for transmission by adding, by the first agent, obstacles associated with the parent voxel and children of the parent voxel to a voxel list that identifies changes to voxels in the online map; and transmit the message including the obstacles associated with the parent voxel and children of the parent voxel in the voxel list, wherein the message enables the second agent, upon receiving the message, to update the points in the initial point cloud list in accordance with the identified changes to the voxels in the voxel list to generate an updated online map. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification