Method and system of simultaneous localization and mapping based on 2D LiDAR and camera
A system and method of simultaneous localization and mapping can include loading a map to which 2D feature point data stored in a memory is bound, acquiring 2D LiDAR point data from a LiDAR equipped in a mobility, acquiring 3D observation feature point data by receiving a front image from a camera equipped on the mobility, reducing a dimension of the 3D observation feature point data to 2D observation feature point data, binding the 2D observation feature point data to the 2D LiDAR point data, and detecting an absolute position of the mobility based on the 2D observation feature point data bound to the 2D LiDAR point data and the map to which the 2D feature point data is bound.
1 . A localization and mapping method, the method comprising:
acquiring 2D LiDAR point data from a light detection and ranging device (LiDAR) of a mobility;
acquiring three dimension (3D) observation feature point data by receiving an image from a camera of the mobility;
reducing a dimension of the 3D observation feature point data to 2D observation feature point data;
before the reducing the dimension of the 3D observation feature point data to the 2D observation feature point data, deleting non-collision 3D observation feature point data for features that are not able to cause a collision with the mobility from the 3D observation feature point data;
binding the 2D observation feature point data to the 2D LiDAR point data; and
detecting an absolute position of the mobility based on the 2D observation feature point data bound to the 2D LiDAR point data and based on a map to which 2D feature point data is bound.
2 . The method of claim 1 , wherein detecting the absolute position of the mobility comprises:
selecting an estimated position of the mobility;
comparing the bound 2D observation feature point data with the 2D feature point data bound to the estimated position of the map; and
selecting a final position of the mobility based on the comparing.
3 . The method of claim 2 , wherein selecting the final position of the mobility comprises checking a similarity of the bound 2D observation feature point data and the 2D feature point data bound to the estimated position of the map.
4 . The method of claim 2 , wherein selecting the estimated position of the mobility comprises localizing the mobility.
5 . The method of claim 1 , further comprising updating the map to which the 2D feature point data is bound based on the absolute position of the mobility and based on the 2D observation feature point data bound to the 2D LiDAR point data.
6 . The method of claim 5 , further comprising storing the updated map in a memory.
7 . The method of claim 1 , wherein specifications of the mobility are stored in a memory and the method further comprises selecting the non-collision 3D observation feature point data based on the specifications of the mobility.
8 . A localization and mapping system comprising:
a light detection and ranging device (LiDAR) mounted on a mobility and configured to detect two dimension (2D) LiDAR point data;
a camera mounted on the mobility and configured to acquire an image; and
a controller configured to:
receive the 2D LiDAR point data from the LiDAR;
receive the image from the camera;
detect three dimension (3D) observation feature point data from the image;
reduce a dimension of the 3D observation feature point data to 2D observation feature point data;
before reducing the dimension of the 3D observation feature point data to the 2D observation feature point data, to delete non-collision 3D observation feature point data for features that are not able to cause a collision with the mobility from the 3D observation feature point data;
bind the 2D observation feature point data to the 2D LiDAR point data; and
detect an absolute position of the mobility based on the 2D observation feature point data bound to the 2D LiDAR point data and based on a map to which two dimension (2D) feature point data is bound.
9 . The system of claim 8 , wherein the controller is further configured to select an estimated position of the mobility, compare the bound 2D observation feature point data with the 2D feature point data bound to the estimated position of the map, and select a final position of the mobility based on the compare.
10 . The system of claim 9 , wherein the controller is further configured to select the final position of the mobility by checking a similarity of the bound 2D observation feature point data and the 2D feature point data bound to the estimated position of the map.
11 . The system of claim 9 , further comprising a movement data sensor mounted on the mobility and configured to detect movement data of the mobility, wherein the controller is further configured to select the estimated position of the mobility by localization of the mobility based on one of or both of the 2D LiDAR point data and the movement data of the mobility.
12 . The system of claim 8 , wherein the controller is further configured to update the map to which the 2D feature point data is bound based on the absolute position of the mobility and based on the 2D observation feature point data bound to the 2D LiDAR point data.
13 . The system of claim 12 , wherein the controller is further configured to store the updated map in a memory.
14 . The system of claim 8 , wherein specifications of the mobility are stored in a memory and the controller is further configured to select the non-collision 3D observation feature point data based on the specifications of the mobility.
15 . A mobility comprising:
a driving motor;
a wheel;
an encoder configured to detect information on a rotation of the driving motor or the wheel;
an inertial sensor configured to detect information on a movement situation of the mobility;
a light detection and ranging device (LiDAR);
a camera;
a controller; and
a memory storing instructions, that when executed by the controller cause the controller to:
receive 2D LiDAR point data from the LiDAR,
receive an image from the camera,
detect three dimension (3D) observation feature point data from the image,
reduce a dimension of the 3D observation feature point data to 2D observation feature point data,
before reducing the dimension of the 3D observation feature point data to the 2D observation feature point data, to delete non-collision 3D observation feature point data for features that are not able to cause a collision with the mobility from the 3D observation feature point data,
bind the 2D observation feature point data to the 2D LiDAR point data,
select an estimated position of the mobility based on the 2D LiDAR point data, information on the rotation of the driving motor or the wheel detected by the encoder, and information on a movement of the mobility detected by the inertial sensor, and
detect an absolute position of the mobility based on the 2D observation feature point data bound to the 2D LiDAR point data and based on a map to which two dimensional (2D) feature point data is bound.
16 . The mobility of claim 15 , wherein specifications of the mobility are stored in the memory and the controller is further configured to select the non-collision 3D observation feature point data based on the specifications of the mobility.
17 . The mobility of claim 15 , wherein the controller is further configured to select the estimated position of the mobility, compare the bound 2D observation feature point data with the 2D feature point data bound to the estimated position of the map, and select a final position of the mobility based on the compare.
18 . The mobility of claim 17 , wherein the controller is further configured to select the final position of the mobility by checking a similarity of the bound 2D observation feature point data and the 2D feature point data bound to the estimated position of the map.
19 . The mobility of claim 17 , further comprising a movement data sensor mounted on the mobility and configured to detect movement data of the mobility, wherein the controller is further configured to select the estimated position of the mobility by localization of the mobility based on one of or both of the 2D LiDAR point data and the movement data of the mobility.
20 . The mobility of claim 15 , wherein the controller is further configured to update the map to which the 2D feature point data is bound based on the absolute position of the mobility and based on the 2D observation feature point data bound to the 2D LiDAR point data.