公开(公告)号：AU2016202515A1

公开(公告)日：2016-05-12

申请号：AU2016202515

申请日：2016-04-20

Applicant: IROBOT CORP

Inventor： FONG PHILIP ,  EADE ETHAN ,  MUNICH MARIO E

IPC: G05D1/00

Abstract: ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA 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. 7648852 1 (GHMatters) P98299.AU.1

公开(公告)号：CA2952355A1

公开(公告)日：2014-04-10

申请号：CA2952355

申请日：2013-09-23

Applicant: IROBOT CORP

Inventor： FONG PHILIP ,  EADE ETHAN ,  MUNICH MARIO E

IPC: G01C7/00 ,  B25J5/00 ,  B25J9/18 ,  B25J19/04

Abstract: 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.