JP6842519B2 - データ収集方法及びそのシステム - Google Patents
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- 238000013480 data collection Methods 0.000 title claims description 33
- 238000000034 method Methods 0.000 title claims description 31
- 238000013507 mapping Methods 0.000 claims description 104
- 230000033001 locomotion Effects 0.000 claims description 47
- 238000004891 communication Methods 0.000 claims description 36
- 238000012937 correction Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 8
- 238000004422 calculation algorithm Methods 0.000 description 4
- 230000010267 cellular communication Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
- G01S5/02521—Radio frequency fingerprinting using a radio-map
- G01S5/02522—The radio-map containing measured values of non-radio values
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
- G01S5/02521—Radio frequency fingerprinting using a radio-map
- G01S5/02524—Creating or updating the radio-map
- G01S5/02525—Gathering the radio frequency fingerprints
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Instructional Devices (AREA)
- Databases & Information Systems (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
Description
110、210、310 プロセッサ
111 タイムスタンピングモジュール
112 SLAMモジュール
113 タギングモジュール
114 保存モジュール
120、220、320 メモリ
130 第1センサ
140、330 第2センサ
150、230、340 通信部
160、350 駆動部
200 地図クラウドサーバ
300、300a、300b、300c サービスロボット
Claims (14)
- 第1センサ及び第2センサを含むデータ収集装置がターゲット領域内を移動しながら、前記第1センサ及び第2センサを介して、第1センサデータ及び第2センサデータをそれぞれ収集し、前記第1センサデータ及び第2センサデータに、第1タイムスタンプ値及び第2タイムスタンプ値をそれぞれタギングするタイムスタンピング段階と、
前記データ収集装置が移動しながら収集する前記第1センサデータを基に、前記ターゲット領域の地図データ、及び前記第1タイムスタンプ値に対応する時点の位置データを生成するデータ生成段階と、
前記地図データを基に、前記ターゲット領域の地図に係わる地図情報を生成し、前記位置データを基に、前記地図上の移動経路に係わる移動経路情報を生成する情報生成段階と、
前記移動経路情報を基に、前記第2タイムスタンプ値に隣接する2以上の第1タイムスタンプ値に対応する時点の位置から内挿演算を遂行することにより、前記第2タイムスタンプ値に対応する時点のセンシング位置を推定し、前記センシング位置を、前記第2センサデータにタギングするタギング段階と、
前記センシング位置がタギングされた前記第2センサデータを保存する保存段階と、を含む、
データ収集方法。 - 前記移動経路情報は、前記第1タイムスタンプ値に対応する時点の前記位置データを含み、
前記第2タイムスタンプ値に対応する時点のセンシング位置は、前記第1タイムスタンプ値に対応する時点の前記位置データを利用した内挿を介して推定されることを特徴とする、
請求項1に記載のデータ収集方法。 - 前記データ収集装置が通過していた位置を再び訪問するループクロージャを検出する検出段階と、
前記ループクロージャの検出に応答し、前記位置データを補正する段階と、
前記位置データの補正に応答し、前記地図データを補正する段階と、をさらに含むことを特徴とする、
請求項1に記載のデータ収集方法。 - 前記ループクロージャを検出する段階は、
現在受信されている第1センサデータである現在データを以前に受信された第1センサデータである以前データと比較することにより、前記第1センサデータ間の類似度を算出する段階と、
現在受信されている第2センサデータである現在データを以前に受信された第2センサデータである以前データと比較することにより、前記第2センサデータ間の類似度を算出する段階と、
前記第1センサデータ間の類似度、及び前記第2センサデータ間の類似度を基に、前記ループクロージャを検出する段階と、を含むことを特徴とする、
請求項3に記載のデータ収集方法。 - 前記第1センサは、レーザスキャナ、カメラ、RGBDセンサを含むグループから選択される少なくとも1つを含むことを特徴とする、請求項1に記載のデータ収集方法。
- 前記第2センサは、カメラ、Wi−Fiモジュール、近距離間データ通信モジュール、地磁気センサ、レーザスキャナ、RGBDセンサを含むグループから選択される少なくとも1つを含むことを特徴とする、請求項1に記載のデータ収集方法。
- 前記第1センサは、三次元レーザスキャナであることを特徴とする、請求項6に記載のデータ収集方法。
- 前記タイムスタンピング段階、前記データ生成段階、前記情報生成段階、前記タギング段階及び前記保存段階は、前記データ収集装置のプロセッサによって遂行されることを特徴とする、請求項1に記載のデータ収集方法。
- 前記タイムスタンピング段階は、前記データ収集装置のプロセッサによって遂行され、
前記データ生成段階、前記情報生成段階、前記タギング段階及び前記保存段階は、前記データ収集装置にネットワークを介して接続するサーバコンピュータ装置によって遂行されることを特徴とする、
請求項1に記載のデータ収集方法。 - コンピュータに、請求項1ないし9のうちいずれか1項に記載の方法を実行させるためのコンピュータプログラム。
- 第1センサと、
第2センサと、
前記第1センサ及び第2センサを介して、第1センサデータ及び第2センサデータをそれぞれ収集し、前記第1センサデータ及び第2センサデータに、第1タイムスタンプ値及び第2タイムスタンプ値をそれぞれタギングするタイムスタンピングモジュールと、
前記第1センサデータを基に、ターゲット領域の地図データを生成し、前記第1タイムスタンプ値に対応する時点の位置データを生成し、前記地図データを基に、前記ターゲット領域の地図に係わる地図情報を生成し、前記位置データを基に、前記地図上の移動経路に係わる移動経路情報を生成するSLAM(simultaneous localization and mapping)モジュールと、
前記移動経路情報を基に、前記第2タイムスタンプ値に隣接する2以上の第1タイムスタンプ値に対応する時点の位置から内挿演算を遂行することにより、前記第2タイムスタンプ値に対応する時点のセンシング位置を推定し、前記センシング位置を、前記第2センサデータにタギングするタギングモジュールと、
前記センシング位置がタギングされた前記第2センサデータを保存する保存モジュールと、を含む、
データ収集システム。 - 前記SLAMモジュールは、以前に通過していた位置を再び訪問するループクロージャを検出し、前記ループクロージャの検出に応答し、前記位置データを補正し、前記位置データの補正に応答し、前記地図データを補正することを特徴とする、請求項11に記載のデータ収集システム。
- 前記第1センサは、レーザスキャナ、カメラ、RGBDセンサを含むグループから選択される少なくとも1つを含むことを特徴とする、請求項11に記載のデータ収集システム。
- 前記第1センサは、三次元レーザスキャナであり、
前記第2センサは、カメラ、Wi−Fiモジュール、近距離間データ通信モジュール、地磁気センサを含むグループから選択される少なくとも1つを含むことを特徴とする、
請求項11に記載のデータ収集システム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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KR1020180116177A KR101948728B1 (ko) | 2018-09-28 | 2018-09-28 | 데이터 수집 방법 및 시스템 |
KR10-2018-0116177 | 2018-09-28 |
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JP2020077372A JP2020077372A (ja) | 2020-05-21 |
JP6842519B2 true JP6842519B2 (ja) | 2021-03-17 |
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