Abstract: A multi-camera head includes a plurality of stereo cameras mounted together and having their fields of view projecting in different directions, where the fields of view may or may not overlap. The cameras can be mounted to different sides of a frame and can be used in mobile contexts for mapping, navigation, or both, as examples. One or more of the cameras can be pitched at an angle, and a method may be provided for graphically viewing and analyzing field of view projections of the cameras considering the pitch angle.

Abstract: Mapping, localization, and navigation systems for use with a mobile unit are provided that use a sensor model with adjustable parameters. The system includes range sensors configured to collect range data and a data storage system having stored therein an evidence grid representing an environment and a sensor model comprising adjustable parameters representing inaccuracies of the range sensors. A grid engine adjusts the adjustable parameters based on received range data from the range sensors. A navigation module can direct the mobile unit though the environment using the evidence grid, received range data, and adjustable parameters. The grid engine can also locate the mobile unit within the environment by using the adjusted sensor model parameters to compare the received range data against the evidence grid.

Abstract: Mapping, localization, and navigation systems for use with a mobile unit are provided that use a sensor model with adjustable parameters. The system includes range sensors configured to collect range data and a data storage system having stored therein an evidence grid representing an environment and a sensor model comprising adjustable parameters representing inaccuracies of the range sensors. A grid engine adjusts the adjustable parameters based on received range data from the range sensors. A navigation module can direct the mobile unit though the environment using the evidence grid, received range data, and adjustable parameters. The grid engine can also locate the mobile unit within the environment by using the adjusted sensor model parameters to compare the received range data against the evidence grid.

Abstract: A method of generating an evidence grid representing an environment comprises the steps of collecting a set of stereo images at multiple locations within the environment using stereo sensors, and processing the set of stereo images to determine occupancy and distance data associated with each point in space represented in the set of stereo images; applying a sensor model to each point in space to determine a probability of occupancy of each voxel representing each point in space; and generating an evidence grid of the environment by combining the probabilities for each voxel.

Abstract: A method of generating an evidence grid representing an environment comprises the steps of collecting a set of stereo images at multiple locations within the environment using stereo sensors, and processing the set of stereo images to determine occupancy and distance data associated with each point in space represented in the set of stereo images; applying a sensor model to each point in space to determine a probability of occupancy of each voxel representing each point in space; and generating an evidence grid of the environment by combining the probabilities for each voxel.