Abstract

A method of generating an environment reference model for positioning comprises receiving multiple data sets representing a scanned environment including information about the sensor type and absolute position data. One or more feature points are extracted from each of the data sets, and a position of the feature points in a reference coordinate system is determined. A three-dimensional vector representation of the scanned environment is generated that is aligned with the reference coordinate system and in which the feature points are represented at corresponding locations. Links between the feature points in the three-dimensional vector model with at least one type of sensor are created, and the three- dimensional vector model representation and the links are stored in a retrievable manner.

IPC Classes  ?

• G01S 5/00 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations