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1. WO2010141209 - METHOD AND APPARATUS FOR COMBINING THREE-DIMENSIONAL POSITION AND TWO-DIMENSIONAL INTENSITY MAPPING FOR LOCALIZATION

Publication Number WO/2010/141209
Publication Date 09.12.2010
International Application No. PCT/US2010/035242
International Filing Date 18.05.2010
IPC
G01C 21/00 2006.1
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
G01S 17/89 2006.1
GPHYSICS
01MEASURING; TESTING
SRADIO 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
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems, specially adapted for specific applications
89for mapping or imaging
A01D 34/00 2006.1
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
34Mowers; Mowing apparatus of harvesters
CPC
A01D 34/008
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
34Mowers
006Control or measuring arrangements
008for automated or remotely controlled operation
G01C 21/005
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
005with correlation of navigation data from several sources, e.g. map or contour matching
G01C 21/32
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
32Structuring or formatting of map data
G01S 19/48
GPHYSICS
01MEASURING; TESTING
SRADIO 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
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
42Determining position
48by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Applicants
  • ROBERT BOSCH GMBH [DE]/[DE] (AllExceptUS)
  • KAMMEL, Soeren [DE]/[US] (UsOnly)
  • PITZER, Benjamin [DE]/[US] (UsOnly)
  • BECKER, Jan [DE]/[US] (UsOnly)
  • DUHADWAY, Charles [US]/[US] (UsOnly)
Inventors
  • KAMMEL, Soeren
  • PITZER, Benjamin
  • BECKER, Jan
  • DUHADWAY, Charles
Agents
  • SWEDO, Keith, J.
Priority Data
12/475,70101.06.2009US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) METHOD AND APPARATUS FOR COMBINING THREE-DIMENSIONAL POSITION AND TWO-DIMENSIONAL INTENSITY MAPPING FOR LOCALIZATION
(FR) PROCÉDÉ ET APPAREIL POUR COMBINER UNE CARTOGRAPHIE DE POSITION EN TROIS DIMENSIONS ET D'INTENSITÉ EN DEUX DIMENSIONS POUR UNE LOCALISATION
Abstract
(EN)
A mapping method includes using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface. Three-dimensional positions of the features are sensed during the mapping. A three-dimensional map is created including associations between the three-dimensional positions of the features and the map of the two-dimensional features. The three-dimensional map is provided from the first mobile unit to a second mobile unit. The second mobile unit is used to map the two-dimensional features while the second mobile unit traverses the surface. Three-dimensional positions of the two-dimensional features mapped by the second mobile unit are determined within the second mobile unit and by using the three- dimensional map.
(FR)
L'invention porte sur un procédé de cartographie qui comprend l'utilisation d'une première unité mobile pour cartographier des caractéristiques en deux dimensions tandis que la première unité mobile traverse une surface. Les positions en trois dimensions des caractéristiques sont détectées durant la cartographie. Une carte tridimensionnelle est créée, comprenant des associations entre les positions en trois dimensions des caractéristiques et la carte des caractéristiques en deux dimensions. La carte en trois dimensions est délivrée de la première unité mobile à une seconde unité mobile. La seconde unité mobile est utilisée pour cartographier les caractéristiques en deux dimensions tandis que la seconde unité mobile traverse la surface. Les positions en trois dimensions des caractéristiques en deux dimensions cartographiées par la seconde unité mobile sont déterminées à l'intérieur de la seconde unité mobile et à l'aide de la carte en trois dimensions.
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