System and method for simultaneous localization and map building
First Claim
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.
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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.
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Citations
7 Claims
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1. A method of operating an autonomous vehicle, the method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification