Mapping systems and methods

• US 7,302,359 B2
• Filed: 02/08/2006
• Issued: 11/27/2007
• Est. Priority Date: 02/08/2006
• Status: Expired due to Fees

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: McKitterick, John B.
• Primary Examiner(s): Tsai; Carol S. W.
• Application Number:
  US11/350,302
• Publication Number:
  US 20070185681A1
• Time in Patent Office: 657 Days
• Field of Search: 702/155, 340/990, 701/207, 701/208, 701/209, 701/300, 342/179, 348/169, 382/151, 382/152, 382/154, 382/156, 180/116, 180167-169, 318/580, 318/587
• US Class Current: 702/155
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/383 Indoor data
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G01C 7/06 of cavities, e.g. tunnels
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

Improved systems and methods for mapping are provided. In one embodiment, a system for mapping is provided. The system comprises a rangefinder adapted to output range measurements; an inertial sensor adapted to capture inertial measurements including inertial forces acting on the rangefinder and the attitude of the rangefinder; and a processor coupled the rangefinder and the inertial sensor and adapted to receive a set of range measurements from the rangefinder and inertial measurements from the inertial sensor. The processor is adapted to produce a virtual room reconstruction based on the set of range measurements from the rangefinder and inertial measurements from inertial sensor.

Claims

1. A method for mapping, the method comprising:

orienting a mapping unit towards one or more target surfaces;

collecting range measurements from the one or more target surfaces with the mapping unit;

collecting inertial motion data representing the motion of the mapping unit while collecting the range measurements; and

calculating room dimensions to produce a virtual room reconstruction based on the range measurements and the inertial motion data;

wherein collecting inertial motion data further comprises collecting accelerations experienced by the mapping unit and attitude measurements of the mapping unit as the mapping unit collects the range measurements.

2. The method of claim 1, wherein calculating room dimensions further comprises associating range measurements with one or more virtual walls.

3. The method of claim 1, wherein calculating room dimensions further comprises minimizing an error function to produce one or more virtual walls representing the one or more target surfaces.

4. A method for mapping, the method comprising:

orienting a mapping unit towards one or more target surfaces;

collecting range measurements from the one or more target surfaces with the mapping unit;

collecting inertial motion data representing the motion of the mapping unit while collecting the range measurements;

calculating room dimensions to produce a virtual room reconstruction based on the range measurements and the inertial motion data;

moving the mapping unit from a first room to a second room;

collecting inertial motion data while moving from the first room to the second room; and

assembling a map based on two or more virtual room reconstructions and the inertial motion data collected while moving from the first room to the second room.

5. The method of claim 4, wherein assembling a map of the building farther comprises reaching an equilibrium between a first force and a second force, wherein the first force is an attractive force between a first virtual wall of a first virtual room reconstruction and a second virtual wall of a second virtual room reconstruction, and the second force is a repelling force between the first virtual wall of the first virtual room reconstruction and the second virtual wall of the second virtual room reconstruction.

6. A system for mapping, the system comprising:

means for measuring ranges to one or more interior surfaces;

means for measuring inertial motion representing the motion of the means for measuring ranges responsive to the means for measuring ranges; and

means for calculating room dimensions to produce a virtual room reconstruction based on measurements from the means for measuring ranges and the means for measuring inertial motion data, the means for calculating responsive to the means for measuring ranges and the means for measuring inertial motion;

wherein the means for calculating is further adapted to assemble a map by minimizing at least one energy function based on physical constraints that arise from properties of buildings.

7. The system of claim 6, wherein the means for calculating is adapted to produce a virtual room reconstruction incorporating one or more room features based on a set of measurements from the means for measuring ranges and the means for measuring inertial motion data.

8. The system of claim 6, wherein the room features include at least one of a door and a window.

9. The system of claim 6, wherein the means for calculating is adapted to assemble a map based on establishing the relative position of two or more virtual room reconstructions.

10. A system for mapping, the system comprising:

means for measuring ranges to one or more interior surfaces;

means for measuring inertial motion representing the motion of the means for measuring ranges responsive to the means for measuring ranges; and

means for calculating room dimensions to produce a virtual room reconstruction based on measurements from the means for measuring ranges and the means for measuring inertial motion data, the means for calculating responsive to the means for measuring ranges and the means for measuring inertial motion;

wherein the means for calculating is further adapted to assemble a map based on reaching an equilibrium between a first force and a second force, wherein the first force is an attractive force between a first virtual wall of a first virtual room reconstruction and a second virtual wall of a second virtual room reconstruction, and the second force is a repelling force between the first virtual wall of the first virtual room reconstruction and the second virtual wall of the second virtual room reconstruction.

11. A computer-readable medium having computer-executable instructions for mapping, the method comprising:

collecting range measurements of one or more target surfaces, wherein the range measurements are measured with a rangefinder;

receiving inertial motion data representing the motion of the rangefinder while measuring the range measurements;

calculating room dimensions to produce a virtual room reconstruction based on the range measurements and the inertial motion data;

collecting inertial motion data representing movement of the rangefinder from a first room to a second room; and

assembling a map based on two or more virtual room reconstructions.

12. The computer-readable medium of claim 11, wherein calculating room dimensions further comprises associating range measurements with one or more virtual walls.