Jianq Chyun IP Office
Method and device of mapping and localization method using the same
A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
Industrial Technology Research Institute
G G G G G
G06V G06T G06T G06T G06V
inventional inventional additional additional inventional
Wei-Han Hung-Hsiu Yu-Kuen Chin-Chia Hsiang-Wen
Wang Yu Tsai Wu Hsieh