Augmented Mobile Platform Localization

摘要

A system includes a transformation module, alignment module and aligned localization module. The transformation module is configured to receive first and second pose estimates of a mobile platform movable within an environment. The first and second pose estimates are relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems. The transformation module, then, may be configured to calculate a geometric transform between the first and second digital maps based on the first and second pose estimates. The alignment module may be configured to align the first and second digital maps based on the geometric transform, and thereby generate an aligned digital map. And the aligned localization module may be configured to localize the mobile platform relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile platform.

主权项

1. A system comprising:
a transformation module configured to receive first and second pose estimates of a mobile platform movable within an environment, the first and second pose estimates being relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems, the transformation module being configured to calculate a geometric transform between the first and second digital maps based on the first and second pose estimates; an alignment module configured to align the first and second digital maps based on the geometric transform, and thereby generate an aligned digital map; and an aligned localization module configured to localize the mobile platform relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile platform.