Method and apparatus for mapping an operating environment for at least one mobile unit and for locating at least one mobile unit in an operating environment and localization system for an operating environment

摘要

A method for providing mapping data (160) for a card (170) of an operating environment (100) for at least one mobile unit (120) includes the reading of reference image data from an interface to an image acquisition device (122) of the mobile unit (120). The reference image data represents a plurality of reference images taken by means of the image acquisition device (122) of sub-sections specific to each reference image (104) of a floor (102) of the operating environment (100),where adjacent sections (104) overlap partially. A plurality of reference image features are extracted for each reference image using the reference image data. Positions of the reference image features in each reference image are determined by a random process ordetermined according to a predefined distribution scheme. To generate mapping data (160), a reference feature descriptor is determined at the position of each reference image feature using the reference image data. The mapping data (160) includes the reference image datathe positions of the reference image features and the reference feature descriptors.