An operating method for navigating a device in a dynamic environment is provided. The method includes building a map based on sensor data, localizing a position of the device on the map based on the sensor data, determining a first position of a moving object on the map based on the sensor data, determining a momentum of the moving object, determining a second position of the moving object on the map based on the determined momentum, and changing the position of the device based on the determined second position of the moving object and a position of at least one obstacle.

An illuminating apparatus includes an illuminance sensor mounted on a vehicle and configured to detect an illuminance outside the vehicle as a detected illuminance, a location sensor mounted on the vehicle and configured to detect a location of the vehicle as a detected location, and a controller configured to store one or more illuminance thresholds that are thresholds of the illuminance and monitor whether there is a crossover phenomenon that the detected illuminance crosses one of the one or more illuminance thresholds. The controller is configured to transmit crossing data, including information indicating the detected location when the crossover phenomenon occurs and information indicating the detected illuminance when the crossover phenomenon occurs, to a management apparatus outside the vehicle.

A modular control system for controlling an AGV includes an interface, a processor, a memory, and a plurality of programs. The plurality of programs include a task scheduling module, a sensor fusion module, a mapping module, and a localization module. The interface receives a command signal from an AGV management system and sensor signals from a plurality of sensors. The memory stores a surrounding map and the plurality of programs to be executed by the processor. The task scheduling module converts the command signal to generate an enabling signal. The sensor fusion module processes the received sensor signals according to the enabling signal and generates an organized sensor data. The mapping module processes the organized sensor data and the surrounding map to generate an updated surrounding map. The localization module processes the organized sensor data and the updated surrounding map to generate a location and pose signal.

Provided herein is a method, apparatus, and computer program product for identifying locations along a road segment as a tunnel based on point cloud data. Methods may include: receiving point cloud data representative of an environment of a trajectory along a road segment; generating, from the point cloud data, one or more two-dimensional images in one or more corresponding planes orthogonal to the trajectory; determining, for the one or more two-dimensional images, a probability as to whether a respective two-dimensional image is captured within a tunnel along the road segment; and classifying a point along the road segment at a position corresponding to a respective one of the one or more two-dimensional images as a tunnel point in response to the probability as to whether the respective two-dimensional image is captured within a tunnel along the road segment satisfying a predetermined value.

In an embodiment, a method comprises detecting, at a processor of an autonomous vehicle, a discrepancy between a map and a property sensed by at least one sensor onboard the autonomous vehicle, the property being associated with an external environment of the autonomous vehicle. In response to detecting the discrepancy, and based on the discrepancy, an annotation for the map is generated via the processor. A signal representing the annotation is caused to be transmit to a compute device that is remote from the autonomous vehicle. A signal representing a map update is received from the compute device that is remote form the autonomous vehicle. The map update is generated based on the annotation, the map update (1) including replacement information for a region of the map associated with the annotation, and (2) not including replacement information for a remainder of the map.

A device is configured for performing localization using a set of sensors that are transportable with the device. The device includes at least one processor operationally connected to the set of sensors, and at least one memory that stores program code. The program code configures the at least one processor to determine a first set of device poses where a first sensor satisfies a localization performance rule, and to determine a second set of device poses where a second sensor satisfies the localization performance rule. The at least one processor is further configured to activate the second sensor while the first sensor is active based on a pose of the device transitioning from not being within to being within the second set of device poses.

A server device stores on a storage unit an advanced map database which includes feature information associated with a feature. The server device receives, from vehicle mounted devices equipped with external sensors which measure features, difference information indicative of a difference between feature information and the actual feature corresponding to the feature information. In accordance with the degree of reliability which is calculated based on a plurality of the difference information, the server device sends to the vehicle mounted device a raw data request signal for requesting the transmission of raw data which is measurement data of the actual feature.

A point which requires visual attention is added to map data. A map data generation device acquires image data in which the outside is captured from a vehicle by an input device and a point data of the vehicle, associates both data, and generates a visual saliency map acquired by estimating fluctuation of visual saliency based on the image data by the visual saliency extraction unit. Then, whether or not a point or a section indicated by position information corresponding to the visual saliency map is a point or a section which requires visual attention is analyzed based on the visual saliency map by an analysis unit, and the point or the section which requires the visual attention is added to the map data based on an analysis result of the analysis unit by an addition device.

A method for updating a map including receiving a first image depicting a geographical area including a first roadway and an occluded area, determining a location of the first roadway segment in response to the first image, receiving a plurality of vehicle telemetry data associated with the first roadway segment and a second roadway segment within the occluded area, updating a map data with the location of the first roadway, determining a location of the occluded area in response to the first image and the plurality of vehicle telemetry data associated with the second roadway segment, requesting an alternate data in response to determination of the location of the occluded area, determining a location of a second roadway segment in response to the alternate data wherein the second roadway segment was occluded in the first image, and updating the map data with the location of the second roadway segment.

A computer-implemented method for controlling an excavation task by an autonomous excavation vehicle comprising a scanning device, the excavation task being described by a target map, the method comprising using an excavation vehicle control system for: a) according to data from the scanning device, maintaining a map representing current terrain; b) moving a sensor-equipped digging implement for executing an excavation operation; c) receiving data indicative of current terrain topography from the sensor; d) updating the maintained map according to the data indicative of current terrain topography; and e) calculating an excavation operation according to the difference between the maintained map and the target map.