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.)
Kaarta Inc
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)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (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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US10989542B2 (en) 2016-03-11 2021-04-27 Kaarta, Inc. Aligning measured signal data with slam localization data and uses thereof
JP6987797B2 (en) 2016-03-11 2022-01-05 カールタ インコーポレイテッド Laser scanner with real-time online egomotion estimation
US11573325B2 (en) 2016-03-11 2023-02-07 Kaarta, Inc. Systems and methods for improvements in scanning and mapping
US11567201B2 (en) 2016-03-11 2023-01-31 Kaarta, Inc. Laser scanner with real-time, online ego-motion estimation
US20200158517A1 (en) * 2017-01-19 2020-05-21 Mindmaze Holding Sa System, methods, device and apparatuses for preforming simultaneous localization and mapping
WO2019099605A1 (en) 2017-11-17 2019-05-23 Kaarta, Inc. Methods and systems for geo-referencing mapping systems
WO2019165194A1 (en) 2018-02-23 2019-08-29 Kaarta, Inc. Methods and systems for processing and colorizing point clouds and meshes
US11761767B2 (en) * 2018-02-26 2023-09-19 Cloudminds Robotics Co., Ltd. Method, device, apparatus, and application for cloud-based trajectory map generation
WO2020009826A1 (en) 2018-07-05 2020-01-09 Kaarta, Inc. Methods and systems for auto-leveling of point clouds and 3d models
CN113454487A (en) * 2019-03-13 2021-09-28 千叶工业大学 Information processing device and mobile robot
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
JP2022540679A (en) * 2019-07-17 2022-09-16 メタウェーブ コーポレーション Scanning system for enhanced antenna placement in wireless communication environments
CN110446164B (en) * 2019-07-23 2021-05-04 达闼机器人有限公司 Mobile terminal positioning method and 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
EP3779357A1 (en) 2019-08-12 2021-02-17 Leica Geosystems AG Localisation of a surveying instrument
DE102019216548A1 (en) * 2019-10-28 2021-04-29 DeepUp GmbH Method and mobile detection device for the detection of infrastructure elements of an underground line network
US20230029573A1 (en) * 2019-12-06 2023-02-02 The Texas A&M University System Mapping Objects Using Unmanned Aerial Vehicle Data in GPS-Denied Environments
CN111079826B (en) * 2019-12-13 2023-09-29 武汉科技大学 Construction progress real-time identification method integrating SLAM and image processing
GB2594111B (en) * 2019-12-18 2023-06-07 Motional Ad Llc Camera-to-LiDAR calibration and validation
DE102020201501A1 (en) 2020-02-07 2021-08-12 Zf Friedrichshafen Ag Method for determining the position of a vehicle when creating a map of the surroundings
CN111664842A (en) * 2020-05-07 2020-09-15 苏州品坤智能科技有限公司 Instant positioning and map building system of unmanned sweeper
CN111879305B (en) * 2020-06-16 2022-03-18 华中科技大学 Multi-mode perception positioning model and system for high-risk production environment
CN114200481A (en) * 2020-08-28 2022-03-18 华为技术有限公司 Positioning method, positioning system and vehicle
CN112050809B (en) * 2020-10-08 2022-06-17 吉林大学 Wheel type odometer and gyroscope information fusion unmanned vehicle directional positioning method
CN112304309B (en) * 2020-10-21 2022-10-04 西北工业大学 Method for calculating combined navigation information of hypersonic vehicles based on cardiac array
DE102020134049A1 (en) 2020-12-17 2022-06-23 Safetec Entsorgungs- Und Sicherheitstechnik Gmbh Measuring system for measuring radioactive radiation
US11568649B2 (en) 2021-01-15 2023-01-31 Continental Automotive Systems, Inc. Landmark-less simultaneous localization and mapping
CN113378684B (en) * 2021-06-04 2024-03-29 北京顺造科技有限公司 Cleaning device and light trigger event identification method for cleaning device
DE102021117311A1 (en) 2021-07-05 2023-01-05 Spleenlab GmbH Control and navigation device for an autonomously moving system and autonomously moving system
CN113573232B (en) * 2021-07-13 2024-04-19 深圳优地科技有限公司 Robot roadway positioning method, device, equipment and storage medium
CN114061596B (en) * 2021-11-19 2024-03-22 北京国家新能源汽车技术创新中心有限公司 Automatic driving positioning method, system, testing method, equipment and storage medium
CN114131629B (en) * 2021-12-10 2024-02-06 北京东方计量测试研究所 Ground detection robot
CN114449011B (en) * 2021-12-21 2023-06-02 武汉中海庭数据技术有限公司 Data analysis and time sequence broadcasting method and system of multi-source fusion positioning system
CN114236564B (en) * 2022-02-23 2022-06-07 浙江华睿科技股份有限公司 Method for positioning robot in dynamic environment, robot, device and storage medium
CN114440895B (en) * 2022-03-04 2023-11-24 杭州电子科技大学 Factor graph-based air pressure auxiliary Wi-Fi/PDR indoor positioning method
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CN114926032B (en) * 2022-05-24 2023-07-25 江苏邦鼎科技有限公司 Modular assembly method and system for feed enterprises
CN114754769B (en) * 2022-06-15 2022-11-18 天津大学四川创新研究院 Data synchronization time service system and method for laser radar and inertial sensor
CN117191005B (en) * 2023-11-08 2024-01-30 中国人民解放军国防科技大学 Air-ground heterogeneous collaborative mapping method, device, equipment and storage medium

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

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