Method and system for updating occupancy map for a robotic system

Patent metadata

Field	Value
Publication number	US-11300964-B2
Application number	US-201715817421-A
Country	US
Kind code	B2
Filing date	Nov 20, 2017
Priority date	Dec 20, 2016
Publication date	Apr 12, 2022
Grant date	Apr 12, 2022

Abstract

A method and system for updates an occupancy map based on a first ray determined from a plurality of rays, as known as a super ray. The method of updating an occupancy map based on grids and octrees includes the step of generating a mapping line based on point clouds obtained from a sensor, determining a super ray by identifying a cell belonging to a plurality of cells forming the occupancy map and traversing an identical cell based on the generated mapping line, and updating the occupancy map by updating a cell through which the super ray corresponding to some of rays related to the plurality of cells forming the occupancy map passes.

First claim

What is claimed is:

1. A method of updating an occupancy map for a robotic system, the occupancy map comprising a plurality of cells arranged in a grid, the occupancy map representing occupancy probability at locations in the robotic system environment corresponding to cells of the occupancy map, the method comprising the steps of:
obtaining, by a sensor within the robotic system, sensor measurements of objects in the environment of the robotic system;
associating the sensor measurements as a plurality of point clouds, wherein each point cloud comprises a plurality of sensor measurements;
converting a sensor coordinate system of the point clouds into a coordinate system corresponding to the occupancy map;
selecting a first cell from the plurality of cells, the first cell containing point clouds associated with sensor measurements of objects at a corresponding location in the occupancy map;
generating a seed frustum from a sensor origin to the first cell, the seed frustum defined by line segments extending from the sensor origin to grid points of the first cell, wherein all points clouds of the first cell are within the seed frustum;
generating an initial mapping line extending from a grid point of the first cell at a first line segment of the seed frustrum along an edge of the first cell to an intersection with a second line segment of the seed frustrum;
dividing the seed frustum into sub-frustums, the sub-frustums defined by line segments extending from the sensor origin through grid points within the seed frustrum, wherein the sub-frustum line segments divide the initial mapping line into a plurality of segment sections;
associating portions of the point clouds of the first cell with a segment section of the plurality of segment sections, wherein the portion of point clouds associated with each segment section are within the corresponding sub-frustum, and wherein the portion of point clouds associated with the segment section comprises at least a first and second point cloud;
projecting a first ray from the sensor origin to the first point cloud of the portion of point clouds associated with a first segment section, and determining the first ray to be a super ray, wherein the super ray passes through the same set of cells of the plurality of cells as the projections of rays from the sensor origin to each point cloud in the portion of point clouds associated with the first segment section;
storing the first point cloud at a storage unit within the robotic system; and
updating the occupancy map by updating the first cell based on the first point cloud, and not updating the first cell based on the second point cloud.

2. The method of claim 1 , wherein updating the occupancy probability of the first cell is weighted based on the number of point clouds represented by the super ray.

3. The method of claim 1 , wherein updating the occupancy map includes updating the occupancy probability of the first cell based on an occupancy state of the first cell.

4. The method of claim 1 , wherein updating the occupancy map includes updating the occupancy probability of cells of the occupancy map through which the super ray passes from the sensor origin to the first cell as free state cells.

5. The method of claim 1 , wherein the updating of the occupancy map includes updating the occupancy map according to a clamping policy for limiting the change of occupancy state based on minimum and maximum bounds.

6. The method of claim 1 , wherein the occupancy map comprises an octree map based on a uniform grid size or irregular grid size.

7. The method of claim 1 , wherein the sensor measurements of objects in the environment of the robotic system are sensed for a specific time frame or at predetermined times.

8. The method of claim 1 , wherein updating the occupancy map includes updating one or more additional cells associated with one or more corresponding super rays projected from the sensor origin to a point cloud within a portion of the point clouds associated with each of the plurality of segment sections.

9. The method of claim 8 , wherein the updating of the one or more additional cells includes processing the corresponding sub-frustums of each of the plurality of segment sections in an x-axis, y-axis, or z-axis processing direction.

10. The method of claim 1 , wherein the occupancy map comprises a three-dimensional (3D) representation of cells as bound volumes at locations in the robotic system environment, and wherein the sensor measurements associate the plurality of point clouds within the first cell as a bound volume.

11. The method of claim 10 , wherein the determining the first ray to be a super ray includes generating a seed frustrum, generating an initial mapping line, and dividing the initial mapping line into segment sections for each of three two-dimensional (2D) planes by projecting grid points of the first cell onto each of a Y-Z plane, a Z-X plane, and an X-Y plane.

12. The method of claim 11 , wherein the determining the first ray to be a super ray further includes determining that a point cloud is associated with the same segment section of each of the two-dimensional planes, and updating the first cell based on the super ray.

13. A system for updating an occupancy map for a robotic system, the occupancy map comprising a plurality of cells arranged in a grid, the occupancy map representing occupancy probability at locations in the robotic system environment corresponding to cells of the occupancy map, comprising:
a sensor within the robotic system to sense point clouds in a surrounding environment representing objects around the robotic system, wherein each point cloud comprises a plurality of points;
at least one processor to execute received instructions of a program code stored in a non-transitory medium, wherein the received instructions configure the at least one processor to include:
a mapping line generation unit configured to:
convert a sensor coordinate system of the point clouds into a coordinate system corresponding to the occupancy map;
select a first cell from the plurality of cells, the first cell containing point clouds associated with sensor measurements of objects at a corresponding location in the occupancy map;
generate a seed frustum from a sensor origin to the first cell, the seed frustum defined by line segments extending from the sensor origin to grid points of the first cell, wherein all points clouds of the first cell are within the seed frustum;
generate an initial mapping line extending from a grid point of the first cell at a first line segment of the seed frustrum along an edge of the first cell to an intersection with a second line segment of the seed frustrum;
divide the seed frustum into sub-frustums, the sub-frustums defined by line segments extending from the sensor origin through grid points within the seed frustrum, wherein the sub-frustum line segments divide the initial mapping line into a plurality of segment sections;
associate portions of the point clouds of the first cell with a segment section of the plurality of segment sections, wherein the portion of point clouds associated with each segment section are within the corresponding sub-frustum, and wherein the portion of point clouds associated with the segment section comprises at least a first and second point cloud;

a super ray generation unit configured to:
project a first ray from the sensor origin to the first point cloud of the portion of point clouds associated with a first segment section, and
determine the first ray to be a super ray, wherein the super ray passes through the same set of cells of the plurality of cells as the projections of ra

Assignees

• Korea Advanced Inst Sci & Tech

Inventors

• Yoon Sung-Eui
• Kwon Youngsun
• Kim Donghyuk

Classifications

• G01S17/89 Primary

  for mapping or imaging · CPC title

• G01S7/4808

  Evaluating distance, position or velocity data · CPC title

• Y10S901/47

  Optical · CPC title

• Y10S901/46

  Sensing device · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title