公开(公告)号：WO2023021233A1

公开(公告)日：2023-02-23

申请号：PCT/FI2021/050566

申请日：2021-08-20

申请人： KONE CORPORATION

发明人： DES PALLIÈRES, Francois ,  VEAU, Nicolas ,  HAAG, Mikael ,  JOKELA, Joonas

IPC分类号： B66B19/00

摘要： The present invention relates to a method and an apparatus for modeling an elevator shaft extending in a main extension direction. The elevator shaft is measured with a measurement system comprising two camera devices and an inertial measurement unit IMU while moving in the main extension direction of the shaft. First aggregated measurements are performed, in which a first localization is performed by integrating first image data obtained with the first camera and the positioning data. Accuracy of the measurement is improved by performing a second localization and mapping by integrating the second image data with output from the first localization. A 3D model of the elevator shaft is generated by processing the geometry received from the second localization and mapping into a 3D model.