Map building apparatus and method

• US 8,521,330 B2
• Filed: 12/29/2009
• Issued: 08/27/2013
• Est. Priority Date: 02/23/2009
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Park, Jun-ho, Jeong, Woo-yeon
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): RINK, RYAN J
• Application Number:
  US12/654,680
• Publication Number:
  US 20100217439A1
• Time in Patent Office: 1,337 Days
• Field of Search: None
• US Class Current: 700/258
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Disclosed are a map building apparatus and method using a distance measurement. According to an aspect, by creating a first map and a second map respectively using the characteristics of different characteristic areas based on a distance-voltage characteristics of a distance measurement sensor, and combining the first map with the second map, a grid map is created. Accordingly, since a map regarding a peripheral environment is created using plural areas of the distance-voltage characteristics, a more accurate map may be created.

Claims

1. A map building apparatus, including one or more processing devices, the apparatus comprising:

a base map building unit using the one or more processing devices configured to generate a first map and a second map based on at least two different distances represented by a same output signal of a measurement sensor, the output signal being an output distance measurement indicating signal; and

a final map building unit configured to selectively combine portions of the first map with portions of the second map to create a third map.

2. The map building apparatus of claim 1, wherein the output distance measurement indicating signal represents the at least two different distances for the same output signal according to respective different characteristic areas along a defined distance-voltage characteristic curve of the measurement sensor, with the different characteristic areas being separated along the distance-voltage characteristic curve based on a point on the distance-voltage characteristic curve where the distance measurement sensor outputs a peak voltage.

3. The map building apparatus of claim 1, wherein the output distance measurement indicating signal represents the at least two different distances for the same output signal according to respective different characteristic areas along a defined distance-voltage characteristic curve of the measurement sensor, and wherein the base map building unit comprises:

a first base map builder to generate the first map based on distances, represented by the output distance measurement indicating signal according to a first characteristic area of the different characteristic areas of the distance-voltage characteristic curve, increasing proportionally with an increase in output voltage of the output distance measurement indicating signal; and

a second base map builder to generate the second map based on distances, represented by the output distance measurement indicating signal according to a second characteristic area of the different characteristic areas of the distance-voltage characteristic curve, increasing proportionally with a decrease in output voltage of the output distance measurement indicating signal.

4. The map building apparatus of claim 1, wherein the final map building unit comprises:

a map combiner configured to combine the first map with the second map;

an intersection extractor configured to extract intersections between the first map and the second map; and

a straight line extractor configured to select straight lines from among lines of the first and second maps for each section which is defined as an area between neighboring intersections of the extracted intersections, to create the third map using the selected straight lines.

5. The map building apparatus of claim 1, wherein the final map building unit comprises:

a map combiner configured to combine the first map with the second map;

an intersection extractor configured to extract intersections between the first map and the second map;

a candidate map builder configured to select any one of a line of the first map and a line of the second map for each section which is defined as an area between neighboring intersections of the extracted intersections, to create at least two candidate maps using the selected lines; and

a map selector configured to select a map from the at least two candidate maps as the third map.

6. The map building apparatus of claim 5, wherein the candidate map builder selects a line of the first map and a line of the second map, alternately, for each section.

7. The map building apparatus of claim 5, wherein the map selector selects a candidate map having more continuous lines with respect to the intersections from the at least two candidate maps as the third map.

8. The map building apparatus of claim 5, wherein the map selector selects a candidate map having more straight lines with respect to the intersections from the at least two candidate maps as the third map.

9. The map building apparatus of claim 5, wherein the map selector selects a candidate map having more straight lines including the intersections from the at least two candidate maps as the third map.

10. The map building apparatus of claim 1, wherein the first and second maps are grid maps made up of same sized grid cells.

11. A map building apparatus comprising:

a base map building unit using the one or more processing devices configured to generate a first map and a second map based on an output distance measurement indicating signal, of a measurement sensor, with the output distance measurement indicating signal representing at least two different distances for a same output signal; and

a final map building unit to selectively combine portions of the first map with portions of the second map to create a third map,

wherein the first map and the second map overlap.

12. A map building method comprising:

generating, using one or more processing devices, a first map and a second map based on at least two different distances represented by a same output signal of a measurement sensor, the output signal being an output distance measurement indicating signal; and

building a third map by selectively combining portions of the first map with portions of the second map to create the third map.

13. The map building method of claim 12, wherein the output distance measurement indicating signal represents the at least two different distances for the same output signal according to respective different characteristic areas along a defined distance-voltage characteristic curve of the measurement sensor, with the different characteristic areas being separated along the distance-voltage characteristic curve based on a point on the distance-voltage characteristic curve where the distance measurement sensor outputs a peak voltage.

14. The map building method of claim 12, wherein the output distance measurement indicating signal represents the at least two different distances for the same output signal according to respective different characteristic areas along a defined distance-voltage characteristic curve of the measurement sensor,

with the generating of the first map including generating the first map based on distances, represented by the output distance measurement indicating signal according to a first characteristic area of the different characteristic areas of the distance-voltage characteristic curve, increasing proportionally with an increase in output voltage of the output distance measurement indicating signal, and

with the generating of the second map including generating the second map based on distances, represented by the output distance measurement indicating signal according to a second characteristic area of the different characteristic areas of the distance-voltage characteristic curve, increasing proportionally with a decrease in output voltage of the output distance measurement indicating signal.

15. The map building method of claim 12, wherein the building of the third map comprises:

combining the first map with the second map;

extracting intersections between the first map and the second map;

selecting straight lines from among lines of the first and second maps for each section which is defined as an area between neighboring intersections of the extracted intersections; and

creating the third map using the selected straight lines.

16. The map building method of claim 12, wherein the building of the third map comprises:

combining the first map with the second map;

extracting intersections between the first map and the second map;

selecting any one of a line of the first map and a line of the second map for each section which is defined as an area between neighboring intersections of the extracted intersections;

creating at least two candidate maps using the selected lines; and

selecting a map from the at least two candidate maps as the third map.

17. The map building method of claim 16, wherein the selecting of the map from the at least two candidate maps comprises selecting a line of the first map and a line of the second map, alternately, for each section.

18. The map building method of claim 16, wherein the selecting of the map from the at least two candidate maps comprises selecting a candidate map having more continuous lines with respect to the intersections from the at least two candidate maps as the third map.

19. The map building method of claim 16, wherein the selecting of the map from the at least two candidate maps comprises selecting a candidate map having more straight lines with respect to the intersections from the at least two candidate maps as the third map.

20. The map building method of claim 16, wherein the selecting of the map from the at least two candidate maps comprises selecting a candidate map having more straight lines including the intersections from the at least two candidate maps as the third map.

21. The map building method of claim 12, wherein the first and second maps are grid maps made up of same sized grid cells.

22. The map building method of claim 12, wherein the first map and the second map overlap.