System and method for positioning carrier, evaluating carrier gesture and building map

System and method for positioning carrier, evaluating carrier gesture and building map

CN
  • CN 102,109,348 B
  • Filed: 12/25/2009
  • Issued: 01/16/2013
  • Est. Priority Date: 12/25/2009
  • Status: Active Grant
First Claim
Patent Images

1. a positioning carrier, estimation attitude of carrier and the system that builds map comprise:

  • One inertia sensing element is measured a mobile status and a rotation status of this carrier;

    One vision sensing element, a surface that is configured in this carrier is upper with at least one environmental characteristic point in the indoor environment of taking this carrier place;

    AndOne controller, control this inertia sensing element and this vision sensing element, receive a sensing result of a sensing result of this inertia sensing element and this vision sensing element with an attitude information of estimating this carrier, a positional information and a velocity information of this carrier, and construction contains a map of this environmental characteristic point;

    Sensing result was estimated after this controller was revised according to one of one of this inertia sensing element and this vision sensing element, afterwards, this controller makes another sensing in this inertia sensing element and this vision sensing element and revises according to this this attitude information of this carrier, this positional information, this velocity information and this map of this carrier;

    Wherein, this controller was estimated this attitude information, this positional information and this velocity information of this carrier before this inertia sensing element of order measures;

    If this controller before this controller estimation, has calculated the rear sensing result of this correction of this vision sensing element, then this controller is estimated according to the rear sensing result of this correction of this vision sensing element;

    This inertia sensing element is measured this mobile status and this rotation status of this carrier under the control of this controller, and this sensing result is returned to this controller;

    This controller is revised this attitude information, this positional information and this velocity information according to this sensing result of this inertia sensing element;

    This controller was estimated first this attitude information, this positional information and this velocity information of this carrier before this vision sensing element of order is measured;

    If this controller before this controller estimation, has calculated the rear sensing result of this correction of this inertia sensing element, then this controller is estimated according to the rear result of this correction of this inertia sensing element;

    This vision sensing element is taken this indoor environmental characteristic point picture of this carrier place under the control of this controller, and this sensing result is returned to this controller;

    This controller is revised this attitude information, this positional information and this velocity information according to this sensing result of this vision sensing element;

    Wherein, the real screen that this controller is captured according to this vision sensing element, the difference between one of this environmental characteristic point estimation position and a physical location relatively is to calculate an error;

    This controller is revised this estimation position to this environmental characteristic point, and is upgraded this map according to this error of calculating;

    This controller is revised this attitude information, this positional information and this velocity information according to this error.

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