Title:
OCCUPANCY GRID MAP GENERATION DEVICE, PROGRAM AND OCCUPANCY GRID MAP GENERATION METHOD
Document Type and Number:
Japanese Patent JP2023141294
Kind Code:
A
Abstract:
To generate an occupancy grid map suitable for the specification of an autonomous traveling robot.SOLUTION: An occupancy grid map generation device 100 includes: an acquisition unit 111 that is provided in an autonomous traveling robot having a function of generating an occupancy grid map 140 and acquires a resolution of a sensor for measuring a peripheral object and also acquires three-dimensional data 130 of a region in which the autonomous traveling robot travels; an error calculation unit 113 that obtains an error when a size of an object in the region indicated by the three-dimensional data 130 is calculated based on a grid dividing the region; a grid size calculation unit 112 that calculates a size of the grid in which the error is equal to or less than a predetermined value within a range of a detection resolution that is a resolution for detecting an object in the region by using the sensor; and a map generation unit 114 that generates an occupancy grid map in which a size of a grid of the occupancy grid map 140 is the size of the grid calculated by the grid size calculation unit 112.SELECTED DRAWING: Figure 1
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Inventors:
MORI TAKAHITO
WADA MASAOMI
SHINODA NAOYA
WADA MASAOMI
SHINODA NAOYA
Application Number:
JP2022047531A
Publication Date:
October 05, 2023
Filing Date:
March 23, 2022
Export Citation:
Assignee:
HITACH PLANT CONSTR LTD
International Classes:
G06T11/60; G05D1/02
Attorney, Agent or Firm:
Patent Attorney Corporation Isono International Patent and Trademark Office
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