Positioning system utilizing enhanced perception-based localization

摘要

A positioning system and method for determining a position of a machine on a worksite are disclosed. The method may store a map of the worksite which includes one or more known objects in the worksite. The method may determine whether a locating device associated with the machine is accurately providing the position of the machine. The method may also include detecting one or more objects in the worksite. The method may further determine an unmatched object from among the detected objects that does not match the one or more known objects stored in the map. The method may also store the unmatched object in the map as a known object of the worksite.

主权项

1. A computer-implemented method for determining a position of a machine on a worksite, comprising:
storing a map of the worksite which includes one or more known objects in the worksite; determining, by a processor, whether a locating device associated with the machine is accurately providing the position of the machine; detecting one or more objects in the worksite; determining, by the processor, an unmatched object from among the detected objects that does not match the one or more known objects stored in the map; storing the unmatched object in the map as a known object of the worksite, responsive to determining that the locating device is accurately providing the position of the machine; and verifying whether the unmatched object should be stored in the map based on a characteristic of the object, before storing the unmatched object, wherein verifying whether the unmatched object should be stored in the map includes: determining whether the unmatched object is stationary or mobile; and determining that the unmatched object should not be stored in the map when the unmatched object is determined to be mobile.