Method for localizing a vehicle equipped with two lidar systems
First Claim
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.
3 Assignments
0 Petitions
Accused Products
Abstract
A method of localizing transportable apparatus (200) within an environment includes receiving (402) data obtained from a first ranging sensor device (202) that is configured to collect information relating to a 2D representation of an environment (301) through which the transportable device is moving. Further data is received (404), that data being obtained from a second ranging sensor device (204) of the transportable apparatus configured to collect information relating to at least a surface (218) over which the transportable apparatus is moving. The ranging sensor device data is used (406) to estimate linear and rotational velocities of the transportable apparatus and the estimates are used (408) to generate a new 3D point cloud (212) of the environment. The method seeks to match (412) the new 3D point cloud with, or within, existing 3D point cloud (216) in order to localize the transportable apparatus with respect to the existing point cloud.
29 Citations
15 Claims
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1. A method of localising a transportable apparatus within an environment, the method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A non-transitory computer readable storage medium storing computer program code executable to perform stops comprising:
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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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15. A transportable apparatus comprising:
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a first ranging sensor device; a second ranging sensor device; a processor configured to execute computer program code; and a non-transitory computer readable storage medium storing computer program code executable to perform steps 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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Specification