Mapping and positioning system

• US 9,377,310 B2
• Filed: 05/01/2014
• Issued: 06/28/2016
• Est. Priority Date: 05/02/2013
• Status: Active Grant

• Current Assignee: Johns Hopkins University
• Original Assignee: Johns Hopkins University
• Inventors: Stipes, Jason A., Humphreys, John C., Startt, Richard A.
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): GREENE, DANIEL LAWSON
• Application Number:
  US14/266,858
• Publication Number:
  US 20140379256A1
• Time in Patent Office: 789 Days
• Field of Search: 701/501
• US Class Current: 1/1
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G01C 22/006 Pedometers

Abstract

A mapping and positioning apparatus may include an IMU module for monitoring movement through an environment, a scanner module, and a control unit. The IMU module is configured to monitor movement on the basis of detecting steps taken by a transporter. The scanner module may be configured to employ laser scanning to determine distances to objects or boundaries in the environment as the transporter moves the apparatus through the environment. The control unit may be configured to receive data from at least the IMU module and the scanner module and make an environmental determination to classify the environment. The control unit may be configured to generate map data based on the data received from the IMU module and the scanner module. The control unit may be configured to adaptively adjust processing of the data received from the IMU module and the scanner module based on a classification of the environment.

Claims

1. A mapping and positioning apparatus comprising:

an inertial measurement unit (IMU) module configured to monitor movement of the apparatus through an environment, the IMU module being configured to monitor the movement at least in part on the basis of detecting steps taken by a transporter of the apparatus;

a scanner module configured to employ laser scanning to determine distances to objects or boundaries in the environment as the transporter moves the apparatus through the environment; and

a control unit configured to receive data from at least the IMU module and the scanner module and make an environmental determination to classify the environment, the control unit further being configured to generate map data based on the data received from the IMU module and the scanner module, wherein the environment is classified based on the number of features and size of the environment,

wherein the control unit is further configured to adaptively adjust processing of the data received from the IMU module and the scanner module based on a classification of the environment, wherein adaptively adjusting processing comprises shifting a balance of the generating map data between laser based processing and inertial movement based processing.

2. The mapping and positioning apparatus of claim 1, further comprising an altimeter to detect elevation or level changes.

3. The mapping and positioning apparatus of claim 1, further comprising a camera unit configured to obtain image data of the environment.

4. The mapping and positioning apparatus of claim 1, wherein the scanner module comprises a laser scanner configured to scan in two dimensions to define boundaries and objects a distance from the transporter in an XY plane.

5. The mapping and positioning apparatus of claim 4, wherein the scanner module further comprises a vertical line scanner to enable the scanner module to support three dimensional map generation.

6. The mapping and positioning apparatus of claim 1, wherein the apparatus is configured to be worn on a back of the transporter and the scanner module is configured to scan over 270 degrees to the side of and behind the transporter.

7. The mapping and positioning apparatus of claim 1, further comprising an IMU foot unit configured to communicate data indicative of steps taken by the transporter to the control unit via a short range wireless connection or a wired connection.

8. The mapping and positioning apparatus of claim 1, wherein the control unit is configured to employ constraints to reduce data processing and improve mapping performance if the environment is classified as a sliding environment.

9. The mapping and positioning apparatus of claim 1, wherein the apparatus further employs one or more environmental sensors including radiological sensors, gas sensors, chemical sensors, RF sensors, spectrometers, magnetic sensors, temperature sensors, pressure sensors, or humidity sensors.

10. The mapping and positioning apparatus of claim 1, wherein the apparatus is provided in a backpack configured to be worn by a human transporter.

11. The mapping and positioning apparatus of claim 1, wherein the apparatus is configured to be worn by a transporter that comprises a service animal.

12. The mapping and positioning apparatus of claim 1, wherein the apparatus is configured to be worn by a transporter that comprises a remotely operated or autonomous vehicle.

13. The mapping and positioning apparatus of claim 1, wherein the control unit is configured to perform calculations based on a pace of the detected steps or rotation of the apparatus to avoid redundant calculations and enable real time mapping.

14. The mapping and positioning apparatus of claim 1, wherein the control unit is configured to utilize the IMU module to estimate linear motion and the scanner module to estimate rotation to generate the map data.

15. The mapping and positioning apparatus of claim 1, wherein the control unit is configured to compare aged map data to new map data to determine when a loop is encountered and, in response to determining that a loop has occurred, update the map based on the comparison.

16. A method comprising:

monitoring movement of an apparatus through an environment using an inertial measurement unit (IMU) module and a scanner module, the IMU module being configured to monitor the movement at least in part on the basis of detecting steps taken by a transporter of the apparatus, and the scanner module being configured to employ laser scanning to determine distances to objects or boundaries in the environment as the transporter moves the apparatus through the environment;

making an environmental determination to classify the environment and generating map data based on data received from the IMU module and the scanner module, wherein the environment is classified based on the number of features and size of the environment; and

adaptively adjusting processing of the data received from the IMU module and the scanner module based on a classification of the environment, wherein adaptively adjusting processing comprises shifting a balance of the generating map data between laser based and inertial movement based.

17. The method of claim 16, further comprising comparing aged map data to new map data to determine when a loop is encountered and, in response to determining that a loop has occurred, updating the map based on the comparison.

18. The method of claim 16, wherein generating the map comprises annotating the map with data gathered by one or more environmental sensors including radiological sensors, gas sensors, chemical sensors, RF sensors, spectrometers, magnetic sensors, temperature sensors, pressure sensors, or humidity sensors.

19. The method of claim 16, wherein adaptively adjusting processing comprises performing calculations based on a pace of the detected steps or rotation of the apparatus to avoid redundant calculations and enable real time mapping.

20. The method of claim 16, wherein generating the map data comprises utilizing the IMU module to estimate linear motion and the scanner module to estimate rotation to generate the map data.