Method for determining a relative position of a mobile unit by comparing scans of an environment and mobile unit
First Claim
1. A method for determining a relative position of a mobile unit, comprising:
- continuously recording scans of an environment of the mobile unit using a distance sensor;
storing the scans in a memory;
using a processing unit, comparing a first scan with a second scan;
determining a relative position of the mobile unit at a time of the second scan in relation to a position of the mobile unit at a time of the first scan;
iteratively comparing the first scan with subsequent scans to determine a new relative position of the mobile unit at a time of the relevant subsequent scan in relation to the position of the mobile unit at the time of the first scan; and
evaluating the relative position of the mobile unit at the time of a current scan using an immediately preceding relative position as a-priori information.
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Accused Products
Abstract
In the method for determining a relative position of a mobile unit by comparing scans of an environment, scans of an environment of the mobile unit are recorded continuously by a distance sensor and stored in a memory. Furthermore the processing unit compares a first scan with a second scan, with a relative position of the mobile unit at the time of the second scan being determined in relation to a position at the time of the first scan. The method is characterized by the fact that the processing unit compares the first scan iteratively with subsequent scans, with a new relative position of the mobile unit at the time of the relevant subsequent scan being determined relative to the position at the time of the first scan, and with the last relative position determined in each case being taken into account as a-priori information.
8 Citations
14 Claims
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1. A method for determining a relative position of a mobile unit, comprising:
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continuously recording scans of an environment of the mobile unit using a distance sensor; storing the scans in a memory; using a processing unit, comparing a first scan with a second scan; determining a relative position of the mobile unit at a time of the second scan in relation to a position of the mobile unit at a time of the first scan; iteratively comparing the first scan with subsequent scans to determine a new relative position of the mobile unit at a time of the relevant subsequent scan in relation to the position of the mobile unit at the time of the first scan; and evaluating the relative position of the mobile unit at the time of a current scan using an immediately preceding relative position as a-priori information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A computer-readable medium storing a program for controlling a computer to perform a method determining a relative position of a mobile unit, the method comprising:
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continuously recording scans of an environment of the mobile unit using a distance sensor; storing the scans in a memory; using a processing unit, comparing a first scan with a second scan; determining a relative position of the mobile unit at a time of the second scan in relation to a position of the mobile unit at a time of the first scan; iteratively comparing the first scan with subsequent scans to determine a new relative position of the mobile unit at a time of the relevant subsequent scan in relation to the position of the mobile unit at the time of the first scan; and evaluating the relative position of the mobile unit at the time of a current scan using an immediately preceding relative position as a-priori information.
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Specification