Adaptive mapping with spatial summaries of sensor data
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-022/00
G05B-015/00
출원번호
US-0632997
(2012-10-01)
등록번호
US-8798840
(2014-08-05)
발명자
/ 주소
Fong, Philip
Eade, Ethan
Munich, Mario E.
출원인 / 주소
Irobot Corporation
대리인 / 주소
Knobbe, Martens, Olson & Bear LLP
인용정보
피인용 횟수 :
29인용 특허 :
77
초록▼
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
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.
대표청구항▼
1. A method of mapping parameters acquired by a robotic system in an environment, the method comprising: driving the robotic system in the environment;measuring a first set of parameters that characterize the environment;estimating a first current pose of the robotic system;defining a first anchor n
1. A method of mapping parameters acquired by a robotic system in an environment, the method comprising: driving the robotic system in the environment;measuring a first set of parameters that characterize the environment;estimating a first current pose of the robotic system;defining a first anchor node representing an estimate of the first current pose, wherein the first anchor node is one of a plurality of anchor nodes;generating a first grid associated with the first anchor node, wherein the first grid comprises a map of the first set of measured parameters, wherein the first set of 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 robotic system;determining an uncertainty between the estimate of the second current pose and the first current pose; andif the uncertainty is greater than a first threshold, then: a) defining a second anchor node representing to the estimate of the second current pose of the robotic system; andb) generating a second grid associated with the second anchor node, wherein the second grid comprises a map of a second set of measured parameters mapped relative to the second current pose. 2. The method of claim 1, further comprising merging grids associated with the plurality of anchor nodes, wherein merging comprises: determining an uncertainty between an estimate of each pose of the plurality of anchor nodes and every other pose of the plurality of anchor nodes;determining an uncertainty between the estimates of two of the plurality of anchor nodes; andif the uncertainty between estimates of poses of two anchor nodes is below a second threshold, then combining the grids associated with the two anchor nodes into a single grid associated with a single anchor node. 3. The method of claim 2, wherein the uncertainty between estimates of poses is based on a covariance matrix of relative pose estimates. 4. The method of claim 1, wherein estimating the first current pose comprises: identifying a plurality of landmarks in the environment;determining locations of the plurality of landmarks with respect to a global reference frame associated with the environment;determining the first current pose of the robotic system with respect to a global reference frame based on the locations of the plurality of landmarks. 5. The method of claim 1, further comprising: identifying a plurality of landmarks in the environment; anddetermining locations of the plurality of landmarks. 6. The method of claim 5, further comprising: updating the poses associated with the plurality of anchor nodes based on the locations of the plurality of landmarks; andgenerating an occupancy map from a plurality of grids, wherein locations of the plurality of grids are based on locations of respective anchor nodes. 7. The method of claim 1, wherein the first set of parameters being mapped comprises occupancy data. 8. The method of claim 7, wherein the occupancy data indicates locations of obstacles in the environment. 9. The method of claim 1, wherein the first set of parameters being mapped indicate the locations of dirt in the environment. 10. A method of mapping parameters acquired by a mobile mapping system in an environment, the method comprising: driving the mapping system in an environment;measuring parameter data that characterizes the environment;mapping the measured parameter data to a plurality of grids, each grid being associated with one of a plurality of pose estimates;determining an uncertainty between each pose estimate and every other one of the plurality of pose estimates; andif the uncertainty between two of the plurality of pose estimates is below a second threshold, then combining the grids associated with the two pose estimates into a spatial summary grid associated with a pose estimate. 11. The method of claim 10, further comprising: rendering a plurality of the spatial summary grids into a global parameter map. 12. The method of claim 11, wherein at least one of the spatial summary grids comprises a map of parameter data in proximity to a location given by an associated pose estimate. 13. The method of claim 12, wherein at least one of the spatial summary grids comprises a Cartesian coordinate system different than the global parameter map. 14. The method of claim 10, wherein the spatial summary grid consists of a single grid, wherein the single grid comprises parameter data from at least two grids associated with different pose estimates. 15. The method of claim 14, wherein parameter data is represented in at least one spatial summary grid using one or more polygons. 16. The method of claim 1, wherein the method is performed at least in part by a computing system residing on the robotic system. 17. The method of claim 1, wherein the method is performed at least in part by the robotic system, the robotic system comprising hardware, using a sensor processor, a parameter processor, a localization module, a parameter mapping module, and a navigation module. 18. The method of claim 10, wherein the method is performed at least in part by a computing system residing on the robotic system. 19. The method of claim 10, wherein the method is performed at least in part by the mobile mapping system, the mobile mapping system comprising hardware, using a sensor processor, a parameter processor, a localization module, a parameter mapping module, and a navigation module.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (77)
Lanckton Arnold H. (Roma NY) More Randall K. (Manlius NY), Advanced terrain mapping system.
Dooley, Michael; Pirjanian, Paolo; Romanov, Nikolai; Chiu, Lihu; Di Bernardo, Enrico; Stout, Michael; Brisson, Gabriel, Application of localization, positioning and navigation systems for robotic enabled mobile products.
Ozick, Daniel N.; Okerholm, Andrea M.; Mammen, Jeffrey W.; Halloran, Michael J.; Sandin, Paul E.; Won, Chikyung, Autonomous coverage robot navigation system.
Steffens Johannes Bernhard ; Elagin Egor Valerievich ; Nocera Luciano Pasquale Agostino ; Maurer Thomas ; Neven Hartmut, Face recognition from video images.
Eric Richard Bartsch ; Charles William Fisher ; Paul Amaat France ; James Frederick Kirkpatrick ; Gary Gordon Heaton ; Thomas Charles Hortel ; Arseni Velerevich Radomyselski ; James Randy Stig, Home cleaning robot.
Gorr Russell E. ; Hancock Thomas R. ; Judd J. Stephen ; Lin Long-Ji ; Novak Carol L. ; Rickard ; Jr. Scott T., Method and apparatus for automatically tracking the location of vehicles.
Tuck Alan,GBX ; Brayson Gary,GBX ; Ignagni Mario B. ; Touchberry Alan B. ; Anderson Donald William,GBX ; Glen Stephen James,GBX ; Gilman James Michael Alexander,GBX, Method and apparatus for determining location of characteristics of a pipeline.
Shimano,Mihoko; Nagao,Kenji; Akimoto,Toshiaki; Naruoka,Tomonobu, Method and apparatus for object recognition using a plurality of cameras and databases.
Caminiti, Lorenzo; Goncalves, Luis; Di Bernardo, Enrico; Moursund, Carter, Method and system for automatically determining lines of sight between nodes.
McGee H. Dean (Rochester Hills MI) Krause Kenneth W. (Rochester MI) Coldren Bruce E. (Troy MI), Method and system for automatically determining the position and orientation of an object in 3-D space.
Asaka Shunichi (Sagamihara JPX) Echigo Tomio (Yokohama JPX) Hazeki Shinichiro (Kawasaki JPX) Ishikawa Shigeki (Tokyo JPX), Method and system for maneuvering a mobile robot.
Hanna Keith J. (Princeton NJ) Kumar Rakesh (Dayton NJ), Method for estimating the location of an image target region from tracked multiple image landmark regions.
Bauer Rudolf (Neubiberg DEX), Method for producing a cellularly structured environment map of a self-propelled, mobile unit that orients itself in the.
McTamaney Louis S. (Cupertino CA) Wong Yue M. (Saratoga CA) Chandra Rangasami S. (Pleasanton CA) Walker Robert A. (Sunnyvale CA) Lastra Jorge E. (San Jose CA) Wagner Paul A. (Cambridge MA) Sharma Uma, Multi-purpose autonomous vehicle with path plotting.
Everett ; Jr. Hobart R. (San Diego CA) Gilbreath Gary A. (San Diego CA) Laird Robin T. (San Diego CA), Navigational control system for an autonomous vehicle.
Cherveny, Kevin; Crane, Aaron; Kaplan, Lawrence M.; Jasper, John; Shields, Russell, System and method for updating, enhancing or refining a geographic database using feedback.
Goncalves,Luis Filipe Domingues; Di Bernardo,Enrico; Pirjanian,Paolo; Karlsson,L. Niklas, Systems and methods for computing a relative pose for global localization in a visual simultaneous localization and mapping system.
Goncalves, Luis Filipe Domingues; Karlsson, L. Niklas; Pirjanian, Paolo; Di Bernardo, Enrico, Systems and methods for controlling a density of visual landmarks in a visual simultaneous localization and mapping system.
Goncalves,Luis Filipe Domingues; Karlsson,L. Niklas; Pirjanian,Paolo; Di Bernardo,Enrico, Systems and methods for controlling a density of visual landmarks in a visual simultaneous localization and mapping system.
Karlsson,L. Niklas; Goncalves,Luis Filipe Domingues; Di Bernardo,Enrico; Pirjanian,Paolo, Systems and methods for correction of drift via global localization with a visual landmark.
Goncalves, Luis Filipe Domingues; Di Bernardo, Enrico; Pirjanian, Paolo; Karlsson, L. Niklas, Systems and methods for determining whether to add a landmark for visual simultaneous localization and mapping.
Goncalves, Luis Filipe Domingues; Di Bernardo, Enrico; Pirjanian, Paolo; Karlsson, L. Niklas, Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping.
Goncalves,Luis Filipe Domingues; Karlsson,L. Niklas; Pirjanian,Paolo; Di Bernardo,Enrico, Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping.
Karlsson,L. Niklas; Pirjanian,Paolo; Goncalves,Luis Filipe Domingues; Di Bernardo,Enrico, Systems and methods for incrementally updating a pose of a mobile device calculated by visual simultaneous localization and mapping techniques.
Domingues Goncalves, Luis Filipe; Di Bernardo, Enrico; Pirjanian, Paolo; Karlsson, L. Niklas, Systems and methods for landmark generation for visual simultaneous localization and mapping.
Karlsson, L. Nicklas; Pirjanian, Paolo; Goncalves, Luis Filipe Domingues; Bernardo, Enrico Di, Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system.
Karlsson, L. Niklas; Pirjanian, Paolo; Goncalves, Luis Filipe Domingues; Di Bernardo, Enrico, Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system.
Karlsson,L. Niklas; Pirjanian,Paolo; Goncalves,Luis Filipe Domingues; Di Bernardo,Enrico, Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system.
Evans ; Jr. John M. (Brookfield CT) Weiman Carl F. R. (Westport CT) King Steven J. (Woodbury CT), Visual navigation and obstacle avoidance structured light system.
Evans ; Jr. John M. (Brookfield CT) Weiman Carl F. R. (Westport CT) King Steven J. (Woodbury CT), Visual navigation and obstacle avoidance structured light system.
High, Donald R.; Atchley, Michael D.; McHale, Brian G.; Taylor, Robert C.; Winkle, David C., Apparatus and method of obtaining location information of a motorized transport unit.
Fujimoto, Keisuke; Kimura, Nobutaka; Moriya, Toshio; Fuji, Taiki, Mobile robot estimating own position using a class-based own-position estimation unit.
High, Donald R.; Atchley, Michael D.; Kay, Karl; Taylor, Robert C.; Winkle, David C., Shopping facility assistance object detection systems, devices and methods.
McHale, Brian G.; Winkle, David C.; Atchley, Michael D.; Chakrobartty, Shuvro; High, Donald R., Shopping facility assistance system and method having a motorized transport unit that selectively leads or follows a user within a shopping facility.
High, Donald R.; Atchley, Michael D.; Winkle, David C., Shopping facility assistance system and method to retrieve in-store abandoned mobile item containers.
High, Donald R.; Atchley, Michael D.; Winkle, David C., Shopping facility assistance systems, devices and methods to address ground and weather conditions.
Yoo, Minkyun; Park, Seongkeun; Lee, Hoon; Jang, Hyungsun; Kim, Hyunju; Kim, Youngwon; Kim, Euntai; Kim, Beomseong; Choi, Baehoon; An, Jhonghyun, System and method for writing occupancy grid map of sensor centered coordinate system using laser scanner.
High, Donald R.; Chakrobartty, Shuvro; Winkle, David C.; Taylor, Robert C., Systems, devices and methods of controlling motorized transport units in fulfilling product orders.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.