WO2009033935A3 - Anordnung zum erfassen einer umgebung - Google Patents

Anordnung zum erfassen einer umgebung Download PDF

Info

Publication number
WO2009033935A3
WO2009033935A3 PCT/EP2008/061055 EP2008061055W WO2009033935A3 WO 2009033935 A3 WO2009033935 A3 WO 2009033935A3 EP 2008061055 W EP2008061055 W EP 2008061055W WO 2009033935 A3 WO2009033935 A3 WO 2009033935A3
Authority
WO
WIPO (PCT)
Prior art keywords
environment
arrangement
detecting
sensor
movable device
Prior art date
Application number
PCT/EP2008/061055
Other languages
English (en)
French (fr)
Other versions
WO2009033935A2 (de
Inventor
Wolfgang Niem
Henning Von Zitzewitz
Ulrich-Lorenz Benzler
Wolfgang Niehsen
Anke Knoeppler
Jochen Wingbermuehle
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN200880106659A priority Critical patent/CN101802738A/zh
Priority to US12/677,636 priority patent/US20100265327A1/en
Priority to EP08803175A priority patent/EP2191340A2/de
Publication of WO2009033935A2 publication Critical patent/WO2009033935A2/de
Publication of WO2009033935A3 publication Critical patent/WO2009033935A3/de

Links

Classifications

    • 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
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • 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
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

Die Erfindung betrifft eine Anordnung (2), die dazu ausgebildet ist, eine Umgebung für eine bewegliche Vorrichtung (4) zu erfassen, und die mindestens einen Sensor (6) zum visuellen Erfassen der Umgebung sowie jeweils mindestens einen Sensor (8, 10) zum Erfassen der Bewegungsrichtung und der Orientierung der Vorrichtung (4) aufweist, wobei die Anordnung (2) dazu ausgebildet ist, Informationen, die von den Sensoren (6, 8, 10) bereitgestellt werden, zu verarbeiten. Die Erfindung betrifft außerdem ein Verfahren, mit dem eine Umgebung für eine bewegliche Vorrichtung (4) erfasst wird.
PCT/EP2008/061055 2007-09-12 2008-08-25 Anordnung zum erfassen einer umgebung WO2009033935A2 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN200880106659A CN101802738A (zh) 2007-09-12 2008-08-25 用来检测环境的***
US12/677,636 US20100265327A1 (en) 2007-09-12 2008-08-25 System for recording Surroundings
EP08803175A EP2191340A2 (de) 2007-09-12 2008-08-25 Anordnung zum erfassen einer umgebung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007043534A DE102007043534A1 (de) 2007-09-12 2007-09-12 Anordnung zum Erfassen einer Umgebung
DE102007043534.9 2007-09-12

Publications (2)

Publication Number Publication Date
WO2009033935A2 WO2009033935A2 (de) 2009-03-19
WO2009033935A3 true WO2009033935A3 (de) 2009-11-19

Family

ID=40343698

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/061055 WO2009033935A2 (de) 2007-09-12 2008-08-25 Anordnung zum erfassen einer umgebung

Country Status (5)

Country Link
US (1) US20100265327A1 (de)
EP (1) EP2191340A2 (de)
CN (1) CN101802738A (de)
DE (1) DE102007043534A1 (de)
WO (1) WO2009033935A2 (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009003061A1 (de) * 2009-05-13 2010-11-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bahnregelung, insbesondere von mobilen Fahrzeugen
DE102009045326B4 (de) 2009-10-05 2022-07-07 Robert Bosch Gmbh Verfahren und System zum Aufbau einer Datenbank zur Positionsbestimmung eines Fahrzeuges mit Hilfe von natürlichen Landmarken
US9349195B2 (en) 2012-03-19 2016-05-24 Google Inc. Apparatus and method for spatially referencing images
CN102722042B (zh) * 2012-06-06 2014-12-17 深圳市华星光电技术有限公司 液晶生产设备的内部环境检测***及方法
US9367811B2 (en) 2013-03-15 2016-06-14 Qualcomm Incorporated Context aware localization, mapping, and tracking
JP6329642B2 (ja) 2013-12-10 2018-05-23 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ センサ融合
JP6181300B2 (ja) 2014-09-05 2017-08-16 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 無人航空機の速度を制御するシステム
CN105517666B (zh) 2014-09-05 2019-08-27 深圳市大疆创新科技有限公司 基于情景的飞行模式选择
ES2876449T3 (es) * 2014-09-05 2021-11-12 Sz Dji Technology Co Ltd Cartografía de entorno de múltiples sensores
DE102018210712A1 (de) * 2018-06-29 2020-01-02 Zf Friedrichshafen Ag System und Verfahren zur gleichzeitigen Lokalisierung und Kartierung
US11287824B2 (en) * 2018-11-19 2022-03-29 Mobile Industrial Robots A/S Detecting a location of an autonomous device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5961571A (en) * 1994-12-27 1999-10-05 Siemens Corporated Research, Inc Method and apparatus for automatically tracking the location of vehicles
US20050273967A1 (en) * 2004-03-11 2005-12-15 Taylor Charles E Robot vacuum with boundary cones
WO2007041295A2 (en) * 2005-09-30 2007-04-12 Irobot Corporation Companion robot for personal interaction
US20070198144A1 (en) * 2005-10-21 2007-08-23 Norris William R Networked multi-role robotic vehicle

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6009359A (en) * 1996-09-18 1999-12-28 National Research Council Of Canada Mobile system for indoor 3-D mapping and creating virtual environments
JP3745472B2 (ja) * 1996-11-18 2006-02-15 三菱電機株式会社 自走車、自律誘導装置、および自動搬送装置
US7015831B2 (en) 2002-12-17 2006-03-21 Evolution Robotics, Inc. Systems and methods for incrementally updating a pose of a mobile device calculated by visual simultaneous localization and mapping techniques
US20050234679A1 (en) * 2004-02-13 2005-10-20 Evolution Robotics, Inc. Sequential selective integration of sensor data
US8874261B2 (en) * 2007-07-25 2014-10-28 Deere & Company Method and system for controlling a mobile robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5961571A (en) * 1994-12-27 1999-10-05 Siemens Corporated Research, Inc Method and apparatus for automatically tracking the location of vehicles
US20050273967A1 (en) * 2004-03-11 2005-12-15 Taylor Charles E Robot vacuum with boundary cones
WO2007041295A2 (en) * 2005-09-30 2007-04-12 Irobot Corporation Companion robot for personal interaction
US20070198144A1 (en) * 2005-10-21 2007-08-23 Norris William R Networked multi-role robotic vehicle

Also Published As

Publication number Publication date
EP2191340A2 (de) 2010-06-02
WO2009033935A2 (de) 2009-03-19
US20100265327A1 (en) 2010-10-21
DE102007043534A1 (de) 2009-03-19
CN101802738A (zh) 2010-08-11

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