Adaptive mapping with spatial summaries of sensor data

摘要

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.

主权项

1. A mapping system configured to map parameters acquired by a robotic system in an environment, the mapping system comprising:
non-volatile memory configured to store computer-executable instructions; and a hardware processor in communication with the non-volatile memory, the hardware processor configured to execute the computer-executable instructions to at least: measure a first set of parameters that characterize the environment; estimate a first current pose of the robotic system at a first location in the environment; define a first anchor node representing the estimate of the first current pose; generate a first grid associated with the first anchor node, wherein the first grid comprises a map of the first set of measured parameters, wherein the first set of measured parameters are mapped relative to the first pose; determine an estimate of a second current pose of the robotic system at a second location in the environment; determine an uncertainty between the estimate of the second current pose and the estimate of the first current pose; and if the uncertainty is greater than a first threshold, then:
generate a second grid associated with a second anchor node, the second anchor node representing the estimate of the second current pose of the robotic system, wherein the second grid comprises a map of a second set of measured parameters mapped relative to the second current pose.