METHOD AND APPARATUS FOR COMBINING THREE-DIMENSIONAL POSITION AND TWO-DIMENSIONAL INTENSITY MAPPING FOR LOCALIZATION
First Claim
1. A mapping method, comprising:
- using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface;
sensing three-dimensional positions of the features, the sensing occurring during the mapping;
creating a three-dimensional map including associations between the three-dimensional positions of the features and the map of the two-dimensional features;
providing the three-dimensional map from the first mobile unit to a second mobile unit;
using the second mobile unit to map the two-dimensional features while the second mobile unit traverses the surface; and
determining three-dimensional positions of the two-dimensional features mapped by the second mobile unit, the determining being performed within the second mobile unit and by using the three-dimensional map.
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Abstract
A mapping method includes using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface. Three-dimensional positions of the features are sensed during the mapping. A three-dimensional map is created including associations between the three-dimensional positions of the features and the map of the two-dimensional features. The three-dimensional map is provided from the first mobile unit to a second mobile unit. The second mobile unit is used to map the two-dimensional features while the second mobile unit traverses the surface. Three-dimensional positions of the two-dimensional features mapped by the second mobile unit are determined within the second mobile unit and by using the three-dimensional map.
85 Citations
20 Claims
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1. A mapping method, comprising:
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using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface; sensing three-dimensional positions of the features, the sensing occurring during the mapping; creating a three-dimensional map including associations between the three-dimensional positions of the features and the map of the two-dimensional features; providing the three-dimensional map from the first mobile unit to a second mobile unit; using the second mobile unit to map the two-dimensional features while the second mobile unit traverses the surface; and determining three-dimensional positions of the two-dimensional features mapped by the second mobile unit, the determining being performed within the second mobile unit and by using the three-dimensional map. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A mapping arrangement, comprising:
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a first mobile unit including; a first intensity field sensor configured to map two-dimensional features while the first mobile unit traverses a surface; a three-dimensional position sensing device configured to sense the three-dimensional positions of the features during the mapping by the intensity field sensor; a processor in communication with both the intensity field sensor and the three-dimensional position sensing device, the processor being configured to create a three-dimensional map including associations between the three-dimensional positions of the features and the map of the two-dimensional features; and a transmitting device in communication with the processor and configured to transmit the three-dimensional map; and a second mobile unit including; a receiving device configured to receive the three-dimensional map from the first mobile unit; a second intensity field sensor configured to map the two-dimensional features while the second mobile unit traverses the surface; and a processor in communication with both the intensity field sensor and the receiving device, the processor being configured to determine three-dimensional positions of the two-dimensional features mapped by the second mobile unit, the determining being performed within the second mobile unit and by using the three-dimensional map. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A mapping method, comprising:
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mapping two-dimensional features of a roadway; sensing three-dimensional positions of the features, the sensing occurring during the mapping; determining global position coordinates of the roadway; creating a three-dimensional map including associations between the three-dimensional positions of the features, the map of the two-dimensional features, and the global position coordinates; providing the three-dimensional map to a motor vehicle; using the vehicle to map the two-dimensional features while the vehicle traverses the roadway; tracking global position coordinates of the vehicle while the motor vehicle traverses the roadway; matching the global position coordinates of the vehicle to the global position coordinates associated with the three-dimensional map; matching the two-dimensional features associated with the matched global position coordinates; and determining distances between the vehicle and the two-dimensional features mapped by the vehicle, the determining being performed within the vehicle and by using the three-dimensional positions associated with the matched two-dimensional features. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification