Ausbreitung von Unsicherheiten bei der Kartenbasierten Agent-Posenschätzung

Details

Veröffentlichungs-Nr.

EP4718030

Anmeldetag

30. September 2024

Veröffentlichung

1. April 2026

Rechtsraum

EP

IPC

G01C21/30, G01S5/16

Abstract

The invention relates to a computer-implemented method for agent localization and control using map data with associated uncertainty information. In a step, sensor data observing a scene from an agent's perspective is obtained. In a step, a map database is accessed to get localization map data for map elements in the scene, along with associated uncertainty map data for those elements. In a step, localization information for the agent is determined by comparing the sensor data to the localization map data. In a step, uncertainty information for the localization is determined based on the uncertainty map data. In a step, the agent or another agent is controlled based on the localization information and/or uncertainty information. A corresponding method for generating a map database is also provided. The methods are based on uncertainty data associated with the mapping process and propagate this uncertainty to the agent's pose estimation, which may allow for more robust agent control in environments where map data has varying levels of uncertainty.

Anmelder

Firma

Siemens Mobility GmbH

Land

🇩🇪 Deutschland