Method for adding one or more anchor points to a map of an environment

1 . A method for adding one or more anchor points to a map of an environment, wherein a description has been or is associated with the one or more anchor points, wherein the map is based on a SLAM graph, and wherein the map is used to navigate a mobile device in the environment, the method comprising the following steps:

for each anchor point of the one or more anchor points:

providing a position and/or orientation of the anchor point;

associating the anchor point with a node in the SLAM graph, the node being a node nearest the anchor point, wherein the associating comprises creating a link between the anchor point and the node; and

adding the anchor point to the map of the environment,

wherein prior to associating the anchor point with the node:

(i) determining whether a distance between the anchor point and the nearest node satisfies a predetermined proximity criterion; and

(ii) preventing the anchor point from being added to the map when the distance exceeds the predetermined proximity criterion.

2 . The method according to claim 1 , further comprising, for each of the one or more anchor points:

determining a relative position and/or orientation between the position and/or orientation of the anchor point and a position and/or orientation of the node; and

adding information about the relative position and/or orientation of the anchor point to the map of the environment.

3 . The method according to claim 1 , further comprising, for each of the one or more anchor points:

determining a unique identifier for the anchor point; and

providing the identifier.

4 . The method according to claim 1 , further comprising, for each of the one or more anchor points:

providing information about one of several maps to which the anchor point is to be added;

wherein the anchor point is added to the map according to the information.

5 . The method according to claim 1 , further comprising:

receiving a request to provide information about one or more particular anchor points or about all anchor points of the map; and

providing the requested information about the one or more particular anchor points, if present, or about all anchor points of the map.

6 . The method according to claim 1 , further comprising:

receiving a request to remove one or more particular anchor points from the map; and

removing the one or more particular anchor points from the map, if present.

7 . The method according to claim 1 , wherein an anchor module is provided for adding the one or more anchor points to the map of the environment, wherein at least one map processing module is provided that communicates with the anchor module via an interface, and wherein requests to add anchor points and/or other requests are made by the at least one map processing module to the anchor module and received by the anchor module.

8 . The method according to claim 1 , further comprising, for at least one anchor point on the map:

associating the at least one anchor point with another node in the SLAM graph based on the node with which the anchor point is previously associated with is removed from the SLAM graph or is to be removed from the SLAM graph.

9 . The method according to claim 1 , further comprising:

preventing a removal of nodes with which an anchor point is associated, when one or more nodes are or are to be removed from the graph.

10 . The method according to claim 1 , further comprising:

determining navigation information for the mobile device, based on the map, and a description for the one or more anchor points on the map.

11 . A system for data processing, comprising:

a device configured to add one or more anchor points to a map of an environment, wherein a description has been or is associated with the one or more anchor points, wherein the map is based on a SLAM graph, and wherein the map is used to navigate a mobile device in the environment, the device configured to:

for each anchor point of the one or more anchor points:

providing a position and/or orientation of the anchor point;

associating the anchor point with a node in the SLAM graph, the node being a node nearest the anchor point, wherein the associating comprises creating a link between the anchor point and the node; and

adding the anchor point to the map of the environment,

wherein prior to associating the anchor point with the node:

(i) determining whether a distance between the anchor point and the nearest node satisfies a predetermined proximity criterion; and

(ii) preventing the anchor point from being added to the map when the distance exceeds the predetermined proximity criterion.

12 . A mobile device comprising:

a system including a device configured to add one or more anchor points to a map of an environment, wherein a description has been or is associated with the one or more anchor points, wherein the map is based on a SLAM graph, and wherein the map is used to navigate a mobile device in the environment, the device configured to:

for each anchor point of the one or more anchor points:

providing a position and/or orientation of the anchor point;

associating the anchor point with a node in the SLAM graph, the node being a node nearest the anchor point, wherein the associating comprises creating a link between the anchor point and the node; and

adding the anchor point to the map of the environment;

determine navigation information for the mobile device, based on the map, and a description for the one or more anchor points on the map; and

navigate based on the navigation information;

wherein the system includes a control or regulating unit, and a drive unit for moving the mobile device according to the navigation information,

wherein prior to associating the anchor point with the node:

(i) determining whether a distance between the anchor point and the nearest node satisfies a predetermined proximity criterion; and

(ii) preventing the anchor point from being added to the map when the distance exceeds the predetermined proximity criterion.

13 . The mobile device according to claim 12 , wherein the mobile device is: i) a vehicle moving in an at least partially automated manner, the vehicle being a passenger transport vehicle or a goods transport vehicle, and/or ii) a robot including a household robot, and/or a robotic vacuum cleaner and/or mopping robot, and/or a ground or road cleaning device or robotic mower, and/or iii) a drone.

14 . A non-transitory computer-readable storage medium on which is stored a computer program for adding one or more anchor points to a map of an environment, wherein a description has been or is associated with the one or more anchor points, wherein the map is based on a SLAM graph, and wherein the map is used to navigate a mobile device in the environment, the computer program comprising instructions, which, when executed by a computer, causing the computer to perform the following steps:

for each anchor point of the one or more anchor points:

providing a position and/or orientation of the anchor point;

associating the anchor point with a node in the SLAM graph, the node being a node nearest the anchor point, wherein the associating comprises creating a link between the anchor point and the node; and

adding the anchor point to the map of the environment,

wherein prior to associating the anchor point with the node:

(i) determining whether a distance between the anchor point and the nearest node satisfies a predetermined proximity criterion; and

(ii) preventing the anchor point from being added to the map when the distance exceeds the predetermined proximity criterion.