System and method for simultaneous localization and map building

• US 8,478,472 B2
• Filed: 10/23/2012
• Issued: 07/02/2013
• Est. Priority Date: 04/29/2009
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Bageshwar, Vibhor L., Ariyur, Kartik B.
• Primary Examiner(s): Winner, Tony H.
• Assistant Examiner(s): KNUTSON, JACOB D
• Application Number:
  US13/658,527
• Publication Number:
  US 20130046430A1
• Time in Patent Office: 252 Days
• Field of Search: 701/23, 701/28, 701/200, 701/207, 701/217, 340/995.24, 340/995.25
• US Class Current: 701/26
• CPC Class Codes: B64G 1/244 Spacecraft control systems
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0875 specially adapted to water vehicles

Abstract

An autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality to estimate the position of the plurality of landmarks in a global frame and in the autonomous vehicle'"'"'s frame, and to estimate the kinematic state of the autonomous vehicle in a global frame based, at least in part, on the measurements of landmark position from the at least one image sensor. The processing functionality is further operable to calculate errors in the estimated positions of the plurality of landmarks in the global frame and in the estimate of the kinematic state of the autonomous vehicle in the global frame by using a plurality of unit projection vectors between the estimated positions of the plurality landmarks in the autonomous vehicle'"'"'s frame and a plurality of unit projection vectors between the estimated positions of the plurality of landmarks in the global frame.

Claims

1. A method of operating an autonomous vehicle, the method comprising:

receiving a measurement of landmark position for each of a plurality of landmarks from at least one image sensor;

estimating a kinematic state of the autonomous vehicle in a global frame based, at least in part, on the received measurements from the at least one image sensor;

estimating a position of the plurality of landmarks in a frame of the autonomous vehicle and in the global frame based on the received measurements from the at least one image sensor;

forming a plurality of unit projection vectors between the estimated positions of the plurality of landmarks in the global frame;

forming a plurality of unit projection vectors between the estimated positions of the plurality of landmarks in the frame of the autonomous vehicle; and

calculating heading angle drift errors based on the plurality of unit projection vectors in the global frame and the plurality of unit projection vectors in the frame of the autonomous vehicle; and

updating the estimate of the kinematic state of the autonomous vehicle in the global frame based on the calculated heading angle drift errors.

2. The method of claim 1, wherein estimating the kinematic state of the autonomous vehicle in the global frame includes:

receiving measurements from an inertial measurement unit (IMU) that are related to the kinematic state of the autonomous vehicle in the autonomous vehicle'"'"'s frame; and

blending the IMU measurements with the measurements received from the at least one image sensor.

3. The method of claim 1, wherein calculating the heading angle drift errors based on the plurality of unit projection vectors comprises calculating an optimal solution to a constrained optimization problem using the plurality of unit projection vectors from the frame of the autonomous vehicle and the plurality of unit projection vectors from the global frame.

4. The method of claim 3, wherein calculating an optimal solution to the constrained optimization problem comprises computing a Singular Value Decomposition (SVD) based on the plurality of unit projection vectors from the frame of the autonomous vehicle and the plurality of unit projection vectors from the global frame.

5. The method of claim 1, wherein the at least one image sensor comprises one or more of stereo vision cameras, a Laser Detection and Ranging (LADAR) sensor, a milli-meter wave Radio Detection and Ranging (RADAR) sensor, and an ultrasonic range finder.

6. The method of claim 1, further comprising:

updating the estimated position of the plurality of landmarks in the global frame based on the calculated heading angle drift errors.

7. The method of claim 6, further comprising:

maneuvering the autonomous vehicle based on the updated estimate of the kinematic state of the autonomous vehicle in the global frame.