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Title:
SELF POSITION ESTIMATION METHOD
Document Type and Number:
Japanese Patent JP2017083230
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To improve the accuracy of estimating a self position.SOLUTION: A self position estimation method according to the present invention involves: acquiring a plurality of three-dimensional points indicating a peripheral surface by observing the periphery using a distance sensor; calculating the feature quantities of the plurality of three-dimensional points on the basis of the result of periphery observation by the distance sensor or other sensors; extracting a plurality of three-dimensional points, among the plurality of three-dimensional points, the distances of which from the distance sensor are less than a prescribed distance threshold, and a plurality of three-dimensional points included in a distance section where the number of three-dimensional points whose distance from the distance sensor is greater than or equal to the distance threshold but whose feature quantities are greater than or equal to a feature quantity threshold, is greater than or equal to a prescribed number; and estimating a self position by matching the plurality of extracted three-dimensional points against a plurality of three-dimensional points indicated by an environment map.SELECTED DRAWING: Figure 2

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Inventors:
MORI YUTO
Application Number:
JP2015209844A
Publication Date:
May 18, 2017
Filing Date:
October 26, 2015
Export Citation:
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Assignee:
TOYOTA MOTOR CORP
International Classes:
G01S5/02; G05D1/02
Domestic Patent References:
JP2008250906A2008-10-16
JP2011210121A2011-10-20
JP2012242262A2012-12-10
JP2013228259A2013-11-07
Foreign References:
WO2015029982A12015-03-05
WO2007069726A12007-06-21
WO2012175888A12012-12-27
Other References:
鎌田 大樹: "シーンの複数視点レンジデータの統合手法に関する検討", 電子情報通信学会技術研究報告, vol. 100, no. 716, JPN6018039359, 15 March 2001 (2001-03-15), JP, pages 95 - 102, ISSN: 0003893817
鷹箸 拓也: "３次元形状の特徴点を用いた物体追跡に関する検討", 映像情報メディア学会技術報告, vol. 38, no. 39, JPN6018039360, 25 September 2014 (2014-09-25), JP, pages 17 - 20, ISSN: 0003893818
Attorney, Agent or Firm:
Ken Ieiri



 
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