System and method for urban mapping and positioning

• US 9,080,886 B1
• Filed: 08/03/2013
• Issued: 07/14/2015
• Est. Priority Date: 08/03/2012
• Status: Active Grant

• Current Assignee: Robotic Research OPCO LLC
• Original Assignee: Robotic Research LLC
• Inventors: Lacaze, Alberto Daniel, Murphy, Karl, Smith, Kyle
• Primary Examiner(s): Tarcza, Thomas
• Application Number:
  US13/958,537
• Publication Number:
  US 20150185025A1
• Time in Patent Office: 710 Days
• Field of Search: 701/451
• US Class Current: 1/1
• CPC Class Codes: F41H 13/00 Means of attack or defence not otherwise provided for details of radar or sonar systems G01S7/00
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G06T 2200/08 involving all processing steps from image acquisition to 3D model generation
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30212 Military
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/285 using a sequence of stereo image pairs
• CPC Class Codes: G08B 1/08 using electric transmission ; transformation of alarm signals to electrical signals from a different medium, e.g. transmission of an electric alarm signal upon detection of an audible alarm signal
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

Abstract

UMAPS is a multifaceted system that can be robot-mounted, human-worn, or canine carried. UMAPS produces real-time, 3D mapping and localization for the user as they move throughout a GPS-denied environment (e.g. buildings, caves, or tunnels). An Operator Control Unit (OCU) displays information collected by UMAPS; 2D floorplans; 3D textured-enriched surfaces of the structure'"'"'s interior; and the location of the users within that structure. UMAPS has an open architecture that allows it to function with any OCU. UMAPS has three distinct subsystems: obstacle maps for robot mobility, mapping, and positioning.

Claims

1. A program storage device readable by a computer machine, tangibly embodying program instructions executable by the computer machine to perform method steps for a method for urban mapping and positioning, said method steps comprising:

producing real-time, 3D mapping and localization for a user as the user moves throughout a GPS-denied environment;

an Operator Control Unit (OCU) displays information collected 2D floorplans;

3D textured-enriched surfaces of a structure'"'"'s interior; and

the location of the users within that structure;

providing an open architecture that allows the program storage device to function with any OCU;

combining one or more subsystems, wherein the one or more subsystems comprise three distinct subsystems;

obstacle maps for robot mobility, mapping, and positioning;

creating a “

spring”

network among different updates by fusing information from multiple localization methods;

determining a strength of each spring by a confidence value in the update;

using the springs to “

pull”

one or more navigation solutions to a more accurate location based on the confidence value of the update.

2. The method of claim 1 further comprising the step of producing UMAPS-Positioning (UMAPS-P), which provides GPS-denied position estimation for human users.

3. The method of claim 1 further comprising the step of providing a human-worn mapping component of UMAPS that can provide increased situational awareness for command and control, identify unexplored regions of a building, and provide advanced intelligence for warfighters.

4. A The method of claim 1 further comprising the step of generating maps from a robotic platform, providing critical 3-D survey information of remote, enclosed or dangerous spaces without compromising human presence or safety.

5. The method of claim 1 further comprising the step of allowing the determination of one or more canine unit positioning relative to a mission objective.

6. The method of claim 1 adapted for mounting on a backpack and a robotic platform.

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

fusing one or more relative localization solutions of multiple INS systems strapped to dismounted soldiers;

as the soldiers explored the GPS-denied area, each soldiers individual INS navigation solution is sent to an OCU;

if the soldiers met at a “

rendezvous”

location, this navigation solution is sent to the OCU which then creates an infinitely tight spring between each soldiers individual INS navigation solutions at that time it occurs, locking them into the same place;

one or more looser springs exist along each soldiers individual relative solutions in order to keep the general shape of the path that each individual solider took; and

one or more springs also existed which correlate to absolute positions, which were either surveyed points that the soldiers tagged as infinitely tight springs or GPS updates when available.

8. The method of claim 7 further providing the step of:

using absolute position “

springs”

to pull the overall solution toward the updates.

9. The method of claim 1, wherein the program storage device readable by a computer machine, tangibly embodying program instructions executable by the computer machine to perform method steps is robot-mounted, human-worn, or canine carried.