Method for mapping spaces with respect to a universal uniform spatial reference

• US 7,693,654 B1
• Filed: 11/21/2006
• Issued: 04/06/2010
• Est. Priority Date: 11/23/2005
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Activmedia Robotics
• Inventors: Kennedy, William, Dietsch, Jeanne
• Primary Examiner(s): Beaulieu; Yonel
• Application Number:
  US11/603,242
• Time in Patent Office: 1,232 Days
• Field of Search: 701/200, 701/207, 701213-215
• US Class Current: 701/207
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 2201/0207 Unmanned vehicle for inspecting or visiting an area

Abstract

A method for generating maps of a desired area that are referenced to a universal uniform spatial reference frame includes a mobile platform having a mapping processor and at least one mapping sensor is provided. The mapping sensor is applied to determine the location of features to be mapped relative to the mobile platform. The mobile platform is moved to a new location, and the mapping sensor is further applied to determine the location of features to be mapped relative to the mobile platform. These steps are repeated until the desired area is mapped. The at least one mapping sensor is also applied to locate at least one position on the map of the desired area on a universal uniform spatial reference frame. Positions on the map of the desired area are transformed into the universal uniform spatial reference frame.

Claims

1. A method for generating maps of a desired area that are referenced to a universal uniform spatial reference frame, the method comprising:

a) providing a mobile platform having a mapping processor and at least one mapping sensor;

b) apply the mapping sensor to determine the location of features to be mapped relative to the mobile platform;

c) moving the mobile platform to a new location, applying the mapping sensor to determine the location of features to be mapped relative to the mobile platform, and generating or adding to a map the locations determined;

d) repeating step (c) until the desired area is mapped;

e) applying at least one mapping sensor to locate at least one position on the map of the desired area on a universal uniform spatial reference frame; and

f) transforming positions on the map of the desired area into the universal uniform spatial reference frame.

2. The method of claim 1, wherein the universal uniform spatial reference frame is the GIS.

3. The method of claim 2, wherein locations in the universal uniform spatial reference frame are determined in GPS coordinates.

4. The method of claim 1, wherein step (e) is performed earlier than or simultaneously with step (b) so that the position of the mobile platform is known relative to the universal uniform spatial reference frame and the location of features mapped are determined with respect to the universal uniform spatial reference frame.

5. The method of claim 4, wherein the transforming of step (f) is performed as locations of features are determined.

6. The method of claim 1, wherein step (e) is performed after the initiation of step (b).

7. The method of claim 1, wherein the at least one mapping sensor includes a range-finding sensor for determining the location of features to be mapped relative to the mobile platform.

8. The method of claim 7, wherein the at least one mapping sensor includes a GPS sensor to locate at least one position on the map of the desired area on a universal uniform spatial reference frame by positioning the mobile platform in a known position in the map of the desired area having an adequate GPS signal strength and taking a GPS location fix at that point.

9. The method of claim 7, wherein the at least one mapping sensor includes an odometry sensor.

10. The method of claim 7, wherein the at least one mapping sensor includes an inertial navigation sensor.

11. The method of claim 7, wherein the at least one mapping sensor includes a sensor for determining the location of a marker.

12. The method of claim 11, wherein the at least one mapping sensor includes a sensor for determining the global orientation of a marker.

13. The method of claim 11, wherein the marker has a known location in the universal uniform spatial reference frame.

14. The method of claim 12, wherein the marker has a known location and orientation in the universal uniform spatial reference frame.

15. The method of claim 11, wherein the sensor for determining the location of a marker is an information transmitter.

16. The method of claim 15, wherein the sensor for determining the location of a marker is an RFID sensor.

17. The method of claim 12, wherein the sensor for determining the location and global orientation of a marker is an information transmitter.

18. The method of claim 11, wherein the sensor for determining the location of a marker is an image sensor.

19. The method of claim 12, wherein the sensor for determining the location and global orientation of a marker is an image sensor.

20. The method of claim 11, wherein the range-finding sensor determines the location of a marker by determining a shape of the marker that is indicative of the feature being a marker.

21. The method of claim 12, wherein the range-finding sensor determines the location and global orientation of a marker by determining a shape of the marker that is indicative of the feature being a marker and its orientation.

22. A method for generating maps of a desired area that are referenced to a universal uniform spatial reference frame, the method comprising:

a) providing a mobile platform having a mapping processor and at least one mapping sensor;

b) providing a marker having known location in the universal uniform spatial reference frame;

c) moving the mobile platform to a location within mapping range of the marker;

d) applying the mapping sensor to determine the location of marker and communicating the location of the marker in the universal uniform spatial reference to the mobile platform;

e) transforming positions on the map of the desired area into the universal uniform spatial reference frame.

23. The method of claim 22, wherein the marker has a known location and global orientation in the universal uniform spatial reference frame.

24. The method of claim 22, wherein the at least one mapping sensor includes a range finding sensor for determining the location of features to be mapped relative to the mobile platform.

25. The method of claim 24, wherein the range finding sensor determines the location of a marker by determining a shape of the marker that is indicative of the feature being a marker.

26. The method of claim 25, wherein the range-finding sensor determines the global orientation of a marker by determining the orientation of the marker that is indicative of the feature being a marker.

27. The method of claim 22, wherein the desired area is substantially indoors.

28. The method of claim 22, wherein the desired area is substantially outdoors.

29. The method of claim 22, wherein the marker is positioned in a location where a GPS signal is available.

30. The method of claim 22, wherein the mapping sensor is applied to determine the location of the marker from at least two different positions.

31. The method of claim 30, wherein the mapping sensor is applied to determine the location and global orientation of the marker two different positions.