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Method for localizing a vehicle equipped with two lidar systems

  • US 9,945,950 B2
  • Filed: 04/02/2013
  • Issued: 04/17/2018
  • Est. Priority Date: 04/02/2012
  • Status: Active Grant
First Claim
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1. A method of localising a transportable apparatus within an environment, the method comprising:

  • receiving data obtained from a first ranging sensor device of the transportable apparatus configured to collect information relating to a 2D representation of an environment through which the transportable apparatus is moving;

    receiving data obtained from a second ranging sensor device of the transportable apparatus configured to collect information relating to at least a surface over which the transportable apparatus is moving in the environment;

    using the second ranging sensor device data to estimate linear and rotational velocities of the transportable apparatus moving through the environment;

    using the estimated linear and rotational velocities with the first ranging sensor device data to generate a new 3D point cloud of the environment;

    obtaining data representing an existing 3D point cloud; and

    seeking to match the new 3D point cloud with the existing 3D point cloud in order to localise the transportable apparatus with respect to the existing point cloud.

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