Method for localizing a vehicle equipped with two lidar systems

A method of localizing transportable apparatus (200) within an environment includes receiving (402) data obtained from a first ranging sensor device (202) that is configured to collect information relating to a 2D representation of an environment (301) through which the transportable device is movin...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	Baldwin, Ian Alan, Newman, Paul Michael
Format:	Patent
Sprache:	eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Beschreibung
Zusammenfassung:	A method of localizing transportable apparatus (200) within an environment includes receiving (402) data obtained from a first ranging sensor device (202) that is configured to collect information relating to a 2D representation of an environment (301) through which the transportable device is moving. Further data is received (404), that data being obtained from a second ranging sensor device (204) of the transportable apparatus configured to collect information relating to at least a surface (218) over which the transportable apparatus is moving. The ranging sensor device data is used (406) to estimate linear and rotational velocities of the transportable apparatus and the estimates are used (408) to generate a new 3D point cloud (212) of the environment. The method seeks to match (412) the new 3D point cloud with, or within, existing 3D point cloud (216) in order to localize the transportable apparatus with respect to the existing point cloud.