Adaptive mapping with spatial summaries of sensor data
First Claim
1. A method of mapping an environment, the method comprising:
- estimating a first current pose of a robot driving in an environment based on parameters measured by the robot, the robot having a visual sensor and the parameters including obstacles and clear spaces;
defining a first local origin that represents an estimate of the first current pose, wherein the first local origin is one of a plurality of local origins;
generating a first map of the measured parameters, wherein the measured parameters are mapped relative to the first pose;
after driving a determined period of time, determining an estimate of a second current pose of the robot;
determining an uncertainty between the estimate of the first current robot pose and the estimate of the second current pose of the robot; and
responsive to the uncertainty being greater than a first threshold, then;
defining a second local origin that represents the estimate of the second current pose of the robot; and
generating a second map of measured parameters mapped relative to the second current pose.
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Abstract
A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot'"'"'s current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
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Citations
13 Claims
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1. A method of mapping an environment, the method comprising:
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estimating a first current pose of a robot driving in an environment based on parameters measured by the robot, the robot having a visual sensor and the parameters including obstacles and clear spaces; defining a first local origin that represents an estimate of the first current pose, wherein the first local origin is one of a plurality of local origins; generating a first map of the measured parameters, wherein the measured parameters are mapped relative to the first pose; after driving a determined period of time, determining an estimate of a second current pose of the robot; determining an uncertainty between the estimate of the first current robot pose and the estimate of the second current pose of the robot; and responsive to the uncertainty being greater than a first threshold, then; defining a second local origin that represents the estimate of the second current pose of the robot; and generating a second map of measured parameters mapped relative to the second current pose. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification