Patent ID: 8310684

Claim:
A system for localizing a carrier, estimating a posture of the carrier and establishing a map, comprising: an inertial measurement device, for measuring a motion state and a rotation state of the carrier; a vision measurement device, disposed on a surface of the carrier for picturing at least an environment feature in an indoor environment where the carrier locates; and a controller, for controlling the inertial measurement device and the vision measurement device, receiving a measuring result from the inertial measurement device and a measuring result from the vision measurement device to estimate a posture information, a location information and a velocity information of the carrier and establishing a map having the environment feature; wherein the controller estimates based on a corrected measuring result of one of the inertial measurement device and the vision measurement device, then the controller controls the other one of the inertial measurement device and the vision measurement device to measure and accordingly correct the posture information, the location information and the velocity information of the carrier and the map; wherein, before controlling the inertial measurement device to measure, the controller estimates the posture information, the location information and the velocity information of the carrier; if the controller already calculated the corrected measuring result of the vision measurement device before the controller estimates, the controller estimates based on the corrected measuring result of the vision measurement device; under control of the controller, the inertial measurement device measures the motion state and the rotation state of the carrier and sends the measuring result back to the controller; and the controller corrects the posture information, the location information and the velocity information based on the measuring result of the inertial measurement device.