Localization Within an Environment Using Sensor Fusion

摘要

A method and apparatus for guiding a mobile platform within an environment may be provided. A number of first type of data streams and a number of second type of data streams may be generated using a plurality of data systems. A probability distribution may be applied to each of the number of second type of data streams to form a number of modified data streams. The number of first type of data streams and the number of modified data streams may be fused to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to an environment around the mobile platform.

主权项

1. An apparatus comprising:
a plurality of data systems configured to generate a plurality of data streams in which the plurality of data streams includes a number of first type of data streams and a number of second type of data streams; a modifier configured to apply a probability distribution to each of the number of second type of data streams to form a number of modified data streams; and a pose estimator located onboard a mobile platform and configured to receive and fuse the number of first type of data streams and the number of modified data streams to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to an environment around the mobile platform; wherein the number of second type of data streams are generated by a number of off-board data systems of the plurality of data systems.