Method and apparatus for combining three-dimensional position and two-dimensional intensity mapping for localization

• US 8,473,187 B2
• Filed: 06/01/2009
• Issued: 06/25/2013
• Est. Priority Date: 06/01/2009
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Kammel, Soeren, Pitzer, Benjamin, Becker, Jan, DuHadway, Charles
• Primary Examiner(s): RANGREJ, SHEETAL
• Application Number:
  US12/475,701
• Publication Number:
  US 20100305854A1
• Time in Patent Office: 1,485 Days
• Field of Search: 701/213
• US Class Current: 701/213
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/3837 Data obtained from a single source
• CPC Class Codes: G01C 21/3896 Transmission of map data from central databases
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system

Abstract

A mapping method includes using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface. Three-dimensional positions of the features are sensed during the mapping. A three-dimensional map is created including associations between the three-dimensional positions of the features and the map of the two-dimensional features. The three-dimensional map is provided from the first mobile unit to a second mobile unit. The second mobile unit is used to map the two-dimensional features while the second mobile unit traverses the surface. Three-dimensional positions of the two-dimensional features mapped by the second mobile unit are determined within the second mobile unit and by using the three-dimensional map.

Claims

1. A mapping method, comprising:

using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface;

sensing three-dimensional positions of the features, the sensing occurring during the mapping;

creating a three-dimensional map including associations between the three-dimensional positions of the features and the map of the two-dimensional features;

providing the three-dimensional map from the first mobile unit to a second mobile unit;

using the second mobile unit to map the two-dimensional features while the second mobile unit traverses the surface; and

determining three-dimensional positions of the two-dimensional features mapped by the second mobile unit, the determining being performed within the second mobile unit and by matching up the two-dimensional features mapped by the second mobile unit with two-dimensional features included in the three-dimensional map.

2. The method of claim 1 wherein a first intensity field sensor is used to map the two-dimensional features while the first mobile unit traverses the surface, and a second intensity field sensor is used to map the two-dimensional features while the second mobile unit traverses the surface.

3. The method of claim 1 wherein the three-dimensional positions of the features are sensed by one of LIDAR and a stereo camera.

4. The method of claim 1 comprising the further steps of:

tracking global position coordinates of the first mobile unit while the first mobile unit traverses the surface, the three-dimensional map including associations between the three-dimensional positions of the features, the map of the two-dimensional features, and the global position coordinates of the first mobile unit; and

tracking global position coordinates of the second mobile unit while the second mobile unit traverses the surface, the determining step including matching the global position coordinates of the first and second mobile units.

5. The method of claim 4 wherein the determining step includes matching the mapped two-dimensional features associated with the matched global position coordinates.

6. The method of claim 1 wherein the three-dimensional map is provided from the first mobile unit to the second mobile unit via radio frequency signals.

7. The method of claim 1 wherein the second mobile unit does not sense three-dimensional positions of the features.

8. A mapping arrangement, comprising:

a first mobile unit including;

a first intensity field sensor configured to map two-dimensional features while the first mobile unit traverses a surface;

a three-dimensional position sensing device configured to sense the three-dimensional positions of the features during the mapping by the intensity field sensor;

a processor in communication with both the first intensity field sensor and the three-dimensional position sensing device, the processor being configured to create a three-dimensional map including associations between the three-dimensional positions of the features and the map of the two-dimensional features; and

a transmitting device in communication with the processor and configured to transmit the three-dimensional map; and

a second mobile unit including;

a receiving device configured to receive the three-dimensional map from the first mobile unit;

a second intensity field sensor configured to map the two-dimensional features while the second mobile unit traverses the surface; and

a processor in communication with both the second intensity field sensor and the receiving device, the processor being configured to determine three-dimensional positions of the two-dimensional features mapped by the second intensity field sensor, the determining being performed by matching up the two-dimensional features mapped by the second mobile unit with two-dimensional features included in the three-dimensional map.

9. The arrangement of claim 8 wherein the first mobile unit further includes a first GPS module configured to track global position coordinates of the second mobile unit, and the first mobile unit further includes a second GPS module configured to track global position coordinates of the second mobile unit, and wherein the processor of the second mobile unit is configured to use current global position coordinates of the second mobile unit to identify a corresponding portion of the three-dimensional map.

10. The arrangement of claim 8 wherein the three-dimensional position sensing device comprises one of LIDAR and a stereo camera.

11. The arrangement of claim 8, wherein each of the first and second mobile units comprises one of a lawn mower and a vacuum cleaner.

12. The arrangement of claim 8 wherein the transmitting device comprises one of a radio frequency transmitting device, an electrical conductor, and a memory device transferable from the first mobile unit to the second mobile unit.

13. The arrangement of claim 8 wherein the three-dimensional map comprises a three-dimensional surface mesh.

14. The arrangement of claim 8 wherein the second mobile unit lacks a three-dimensional position sensing device.

15. A mapping method, comprising:

mapping two-dimensional features of a roadway;

sensing three-dimensional positions of the features, the sensing occurring during the mapping;

determining global position coordinates of the roadway;

creating a three-dimensional map including associations between the three-dimensional positions of the features, the map of the two-dimensional features, and the global position coordinates;

providing the three-dimensional map to a motor vehicle;

using the vehicle to map the two-dimensional features while the vehicle traverses the roadway and without sensing the three-dimensional positions of the features;

tracking global position coordinates of the vehicle while the motor vehicle traverses the roadway;

matching the global position coordinates of the vehicle to the global position coordinates associated with the three-dimensional map;

matching the two-dimensional features associated with the matched global position coordinates; and

determining distances between the vehicle and the two-dimensional features mapped by the vehicle, the determining being performed within the vehicle and by using the three-dimensional positions associated with the matched two-dimensional features.

16. The method of claim 15 wherein the mapping, sensing and creating steps, and the step of determining global position coordinates, are performed within a first motor vehicle, the motor vehicle to which the three-dimensional map is provided comprising a second motor vehicle.

17. The method of claim 16 wherein a first intensity field sensor is used to map the two-dimensional features while the first vehicle traverses the roadway, and a second intensity field sensor is used to map the two-dimensional features while the second vehicle traverses the roadway.

18. The method of claim 15 wherein the determining is performed by matching up the two-dimensional features mapped by the second intensity field sensor with two-dimensional features included in the three-dimensional map.

19. The method of claim 16 wherein the three-dimensional map is provided from the first vehicle to the second vehicle.

20. The method of claim 15 wherein the three-dimensional positions of the features are sensed by one of LIDAR and a stereo camera.