KR20230056690A - 다중 에이전트 맵 생성 - Google Patents

다중 에이전트 맵 생성 Download PDF

Info

Publication number
KR20230056690A
KR20230056690A KR1020237006819A KR20237006819A KR20230056690A KR 20230056690 A KR20230056690 A KR 20230056690A KR 1020237006819 A KR1020237006819 A KR 1020237006819A KR 20237006819 A KR20237006819 A KR 20237006819A KR 20230056690 A KR20230056690 A KR 20230056690A
Authority
KR
South Korea
Prior art keywords
nodes
frame
graph
node
environment
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
KR1020237006819A
Other languages
English (en)
Korean (ko)
Inventor
개빈 캇
Original Assignee
커먼웰쓰 사이언티픽 앤 인더스트리알 리서치 오거니제이션
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 AU2020903029A external-priority patent/AU2020903029A0/en
Application filed by 커먼웰쓰 사이언티픽 앤 인더스트리알 리서치 오거니제이션 filed Critical 커먼웰쓰 사이언티픽 앤 인더스트리알 리서치 오거니제이션
Publication of KR20230056690A publication Critical patent/KR20230056690A/ko
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2465—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using a 3D model of the environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions [2D]
    • G06T11/206—
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—Two-dimensional [2D] image generation
    • G06T11/20—Drawing from basic elements
    • G06T11/26—Drawing of charts or graphs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/762—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using clustering, e.g. of similar faces in social networks
    • G06V10/7625—Hierarchical techniques, i.e. dividing or merging patterns to obtain a tree-like representation; Dendograms
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B64U2101/32—UAVs specially adapted for particular uses or applications for imaging, photography or videography for cartography or topography
    • 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/50—Confined spaces, e.g. tanks, pipelines, tunnels or containers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G05D2107/73—Mining
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/29—Graphical models, e.g. Bayesian networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—Two-dimensional [2D] image generation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—Three-dimensional [3D] image rendering
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T9/00—Image coding

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Software Systems (AREA)
  • Geometry (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Graphics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Databases & Information Systems (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Artificial Intelligence (AREA)
  • Image Analysis (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Instructional Devices (AREA)
  • Navigation (AREA)
  • User Interface Of Digital Computer (AREA)
  • Traffic Control Systems (AREA)
KR1020237006819A 2020-08-25 2021-08-09 다중 에이전트 맵 생성 Pending KR20230056690A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
AU2020903029 2020-08-25
AU2020903029A AU2020903029A0 (en) 2020-08-25 Multi-agent map generation
PCT/AU2021/050871 WO2022040723A1 (en) 2020-08-25 2021-08-09 Multi-agent map generation

Publications (1)

Publication Number Publication Date
KR20230056690A true KR20230056690A (ko) 2023-04-27

Family

ID=80352211

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020237006819A Pending KR20230056690A (ko) 2020-08-25 2021-08-09 다중 에이전트 맵 생성

Country Status (8)

Country Link
US (1) US11898869B2 (https=)
EP (1) EP4205084A4 (https=)
JP (1) JP2023538946A (https=)
KR (1) KR20230056690A (https=)
CN (1) CN115836325A (https=)
AU (1) AU2021273605B2 (https=)
CA (1) CA3184001A1 (https=)
WO (1) WO2022040723A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102816670B1 (ko) * 2025-01-22 2025-06-05 주식회사 큐팁 에이전트 그래프의 사용을 지원하기 위한 방법 및 시스템

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116630901B (zh) * 2023-07-24 2023-09-22 南京师范大学 一种基于潜在图预测无监督学习框架的视觉里程计方法
WO2026000065A1 (en) * 2024-06-28 2026-01-02 Leddartech Inc. Vehicle environment map methods and systems

Family Cites Families (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007156016A (ja) * 2005-12-02 2007-06-21 Sony Corp 通信装置、データ処理方法、プログラムおよび通信方法
JP2009193240A (ja) * 2008-02-13 2009-08-27 Toyota Motor Corp 移動ロボット及び環境地図の生成方法
CN102270305B (zh) * 2011-08-11 2013-04-24 西北工业大学 一种基于msbn的多智能体协同目标识别方法
US8798840B2 (en) * 2011-09-30 2014-08-05 Irobot Corporation Adaptive mapping with spatial summaries of sensor data
KR101913332B1 (ko) * 2011-12-23 2018-10-31 삼성전자주식회사 이동 장치 및 이동 장치의 위치 인식 방법
WO2014076844A1 (ja) * 2012-11-19 2014-05-22 株式会社日立製作所 自律移動システムおよび管制装置
US9075415B2 (en) * 2013-03-11 2015-07-07 Airphrame, Inc. Unmanned aerial vehicle and methods for controlling same
US20150091909A1 (en) * 2013-09-30 2015-04-02 Alcatel Lucent Systems And Methods For Distance Approximation In Graphs
US20150193971A1 (en) * 2014-01-03 2015-07-09 Motorola Mobility Llc Methods and Systems for Generating a Map including Sparse and Dense Mapping Information
US9342888B2 (en) * 2014-02-08 2016-05-17 Honda Motor Co., Ltd. System and method for mapping, localization and pose correction of a vehicle based on images
CN104374395A (zh) * 2014-03-31 2015-02-25 南京邮电大学 基于图的视觉slam方法
CN104732518B (zh) * 2015-01-19 2017-09-01 北京工业大学 一种基于智能机器人地面特征的ptam改进方法
AU2016275179B2 (en) * 2015-06-11 2021-10-07 Queen's University At Kingston Automated mobile geotechnical mapping
JP6649743B2 (ja) * 2015-10-28 2020-02-19 シャープ株式会社 一致性評価装置および一致性評価方法
US10788836B2 (en) 2016-02-29 2020-09-29 AI Incorporated Obstacle recognition method for autonomous robots
CN106097304B (zh) * 2016-05-31 2019-04-23 西北工业大学 一种无人机实时在线地图生成方法
EP3497405B1 (en) * 2016-08-09 2022-06-15 Nauto, Inc. System and method for precision localization and mapping
US10274325B2 (en) * 2016-11-01 2019-04-30 Brain Corporation Systems and methods for robotic mapping
CN106371445B (zh) * 2016-11-17 2019-05-14 浙江大学 一种基于拓扑地图的无人车规划控制方法
EP3324209A1 (en) * 2016-11-18 2018-05-23 Dibotics Methods and systems for vehicle environment map generation and updating
SG10201700299QA (en) * 2017-01-13 2018-08-30 Otsaw Digital Pte Ltd Three-dimensional mapping of an environment
US10467799B2 (en) * 2017-03-09 2019-11-05 Houzz, Inc. Dynamically modeling an object in an environment from different perspectives
GB201706129D0 (en) * 2017-04-18 2017-05-31 Blue Vision Labs Uk Ltd Distributed device mapping
US10222215B2 (en) * 2017-04-21 2019-03-05 X Development Llc Methods and systems for map generation and alignment
JP2018189457A (ja) * 2017-05-01 2018-11-29 パイオニア株式会社 情報処理装置
WO2019032684A1 (en) * 2017-08-08 2019-02-14 Diversey, Inc. CREATING AND LOADING MAPPING DATA ON AUTONOMOUS ROBOTIC DEVICES
US20190332114A1 (en) * 2018-04-26 2019-10-31 Maidbot, Inc. Robot Contextualization of Map Regions
JP7047576B2 (ja) * 2018-04-27 2022-04-05 株式会社豊田中央研究所 地図作成装置
JP2020004342A (ja) * 2018-07-02 2020-01-09 株式会社Ｓｏｋｅｎ 移動体制御装置
US10948297B2 (en) * 2018-07-09 2021-03-16 Samsung Electronics Co., Ltd. Simultaneous location and mapping (SLAM) using dual event cameras
GB2576322B (en) * 2018-08-13 2022-11-09 Imperial College Innovations Ltd Mapping object instances using video data
CN109559277B (zh) 2018-11-28 2023-02-28 中国人民解放军国防科技大学 一种面向数据共享的多无人机协同地图构建方法
JP6674572B1 (ja) * 2019-03-01 2020-04-01 三菱ロジスネクスト株式会社 Ｓｌａｍ誘導方式の無人作業車および無人作業システム
CN110531759B (zh) * 2019-08-02 2020-09-22 深圳大学 机器人探索路径生成方法、装置、计算机设备和存储介质
CN110580740B (zh) * 2019-08-27 2021-08-20 清华大学 多智能体协同三维建模方法及装置
CN111340870B (zh) * 2020-01-15 2022-04-01 西安交通大学 基于视觉的拓扑地图生成方法
CN111368759B (zh) * 2020-03-09 2022-08-30 河海大学常州校区 基于单目视觉的移动机器人语义地图构建系统
US11657719B2 (en) * 2020-12-18 2023-05-23 Zoox, Inc. System for sparsely representing and storing geographic and map data

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102816670B1 (ko) * 2025-01-22 2025-06-05 주식회사 큐팁 에이전트 그래프의 사용을 지원하기 위한 방법 및 시스템

Also Published As

Publication number Publication date
AU2021273605A1 (en) 2022-03-17
AU2021273605B2 (en) 2022-03-31
JP2023538946A (ja) 2023-09-12
WO2022040723A1 (en) 2022-03-03
EP4205084A1 (en) 2023-07-05
CA3184001A1 (en) 2022-03-03
CN115836325A (zh) 2023-03-21
US11898869B2 (en) 2024-02-13
EP4205084A4 (en) 2025-05-21
US20230175860A1 (en) 2023-06-08

Similar Documents

Publication Publication Date Title
Tang et al. Topological local-metric framework for mobile robots navigation: a long term perspective
Miettinen et al. Simultaneous localization and mapping for forest harvesters
Bosse ATLAS: a framework for large scale automated mapping and localization
Indelman et al. Incremental distributed inference from arbitrary poses and unknown data association: Using collaborating robots to establish a common reference
CN119860777A (zh) 一种空地协同的无人系统高可靠定位导航方法
AU2021273605B2 (en) Multi-agent map generation
Valencia et al. Mapping, planning and exploration with Pose SLAM
US20230071794A1 (en) Method and system for building lane-level map by using 3D point cloud map
Liu et al. Voxel-SLAM: A complete, accurate, and versatile LiDAR-inertial SLAM system
Dhiman et al. Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey
CN120252755A (zh) 一种巡检路径动态规划方法、介质及设备
Zou et al. Lmapping: tightly-coupled LiDAR-inertial odometry and mapping for degraded environments
Jametoni et al. A study on autonomous drone positioning method
US20240027224A1 (en) Method for recognizing an erroneous map of an environment
CN120298587A (zh) 基于激光雷达和imu的多机分布式协同建图方法及系统
CN119687895A (zh) 一种多类型多机器人协作的大范围建图方法和装置
Crocoll et al. Laser-aided navigation with loop closure capabilities for Micro Aerial Vehicles in indoor and urban environments
Jiao et al. OpenNavMap: Structure-Free Topometric Mapping via Large-Scale Collaborative Localization
Xu et al. Humanoid robot localization based on hybrid map
Yu et al. Perception-aware Planning for Quadrotor Flight in Unknown and Feature-limited Environments
Bultmann et al. Multi-robot navigation and cooperative mapping in a circular topology
Burger et al. Map-aware slam with sparse map features
CN114494422A (zh) 回环检测方法、装置、可读存储介质和可移动设备
Merfels Sensor fusion for localization of automated vehicles
Ryu et al. Local map-based exploration for mobile robots

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

A201 Request for examination
E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

D21 Rejection of application intended

Free format text: ST27 STATUS EVENT CODE: A-1-2-D10-D21-EXM-PE0902 (AS PROVIDED BY THE NATIONAL OFFICE)

PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

T11 Administrative time limit extension requested

Free format text: ST27 STATUS EVENT CODE: U-3-3-T10-T11-OTH-X000 (AS PROVIDED BY THE NATIONAL OFFICE)

T11-X000 Administrative time limit extension requested

St.27 status event code: U-3-3-T10-T11-oth-X000