EP3656138A4 - Aligning measured signal data with slam localization data and uses thereof - Google Patents

Aligning measured signal data with slam localization data and uses thereof Download PDF

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Publication number
EP3656138A4
EP3656138A4 EP18834521.9A EP18834521A EP3656138A4 EP 3656138 A4 EP3656138 A4 EP 3656138A4 EP 18834521 A EP18834521 A EP 18834521A EP 3656138 A4 EP3656138 A4 EP 3656138A4
Authority
EP
European Patent Office
Prior art keywords
data
measured signal
signal data
slam
aligning measured
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP18834521.9A
Other languages
German (de)
French (fr)
Other versions
EP3656138A1 (en
Inventor
Ji Zhang
Kevin Joseph Dowling
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Carnegie Mellon University
Original Assignee
Kaarta Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/US2018/015403 external-priority patent/WO2018140701A1/en
Priority claimed from PCT/US2018/040269 external-priority patent/WO2019006289A1/en
Application filed by Kaarta Inc filed Critical Kaarta Inc
Publication of EP3656138A1 publication Critical patent/EP3656138A1/en
Publication of EP3656138A4 publication Critical patent/EP3656138A4/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Signal Processing (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP18834521.9A 2017-07-17 2018-07-16 Aligning measured signal data with slam localization data and uses thereof Pending EP3656138A4 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201762533261P 2017-07-17 2017-07-17
PCT/US2018/015403 WO2018140701A1 (en) 2017-01-27 2018-01-26 Laser scanner with real-time, online ego-motion estimation
PCT/US2018/040269 WO2019006289A1 (en) 2017-06-30 2018-06-29 Systems and methods for improvements in scanning and mapping
PCT/US2018/042346 WO2019018315A1 (en) 2017-07-17 2018-07-16 Aligning measured signal data with slam localization data and uses thereof

Publications (2)

Publication Number Publication Date
EP3656138A1 EP3656138A1 (en) 2020-05-27
EP3656138A4 true EP3656138A4 (en) 2021-05-12

Family

ID=65016519

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18834521.9A Pending EP3656138A4 (en) 2017-07-17 2018-07-16 Aligning measured signal data with slam localization data and uses thereof

Country Status (2)

Country Link
EP (1) EP3656138A4 (en)
WO (1) WO2019018315A1 (en)

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WO2017155970A1 (en) 2016-03-11 2017-09-14 Kaarta, Inc. Laser scanner with real-time, online ego-motion estimation
US11567201B2 (en) 2016-03-11 2023-01-31 Kaarta, Inc. Laser scanner with real-time, online ego-motion estimation
US11573325B2 (en) 2016-03-11 2023-02-07 Kaarta, Inc. Systems and methods for improvements in scanning and mapping
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CN108235725B (en) * 2018-02-26 2021-08-10 达闼机器人有限公司 Cloud-based track map generation method, device, equipment and application program
WO2019195270A1 (en) 2018-04-03 2019-10-10 Kaarta, Inc. Methods and systems for real or near real-time point cloud map data confidence evaluation
WO2020009826A1 (en) 2018-07-05 2020-01-09 Kaarta, Inc. Methods and systems for auto-leveling of point clouds and 3d models
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US10962371B2 (en) * 2019-04-02 2021-03-30 GM Global Technology Operations LLC Method and apparatus of parallel tracking and localization via multi-mode slam fusion process
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CN110446164B (en) * 2019-07-23 2021-05-04 达闼机器人有限公司 Mobile terminal positioning method, device, mobile terminal and server
CN110260867B (en) * 2019-07-29 2021-06-15 浙江华睿科技有限公司 Method, equipment and device for determining and correcting neutral position in robot navigation
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See also references of WO2019018315A1 *

Also Published As

Publication number Publication date
EP3656138A1 (en) 2020-05-27
WO2019018315A1 (en) 2019-01-24

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