移動体 - Toyota Central R & D Labs.

Title:

移動体

Document Type and Number:

Japanese Patent JP7181800

Kind Code:

B2

Abstract:

To provide a moving vehicle that recognizes the position and attitude of an object.SOLUTION: The moving vehicle recognizes the position and attitude of an object equipped with a marker group in which a plurality of markers are arranged by being spaced part by a first prescribed distance. The moving vehicle includes an optical sensor for imaging the marker group. The moving vehicle includes a moving vehicle position attitude calculation unit for calculating the position and attitude of the moving vehicle. The moving vehicle includes a marker group position attitude estimation unit for estimating the position and attitude of the marker group on the basis of an image in which the object is imaged. The moving vehicle includes a graph structure data generation unit for generating graph structure data comprising a plurality of sensor nodes, a marker node and a plurality of arcs that define the relative positional relation of the plurality of sensor nodes and the marker node. The moving vehicle includes a correction unit for optimizing the generated graph structure data so that the sum of error functions calculated from the plurality of arcs becomes minimum and thereby correcting the estimated value of position and attitude of the marker group.SELECTED DRAWING: Figure 2

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Inventors:

Minoru Tanaka
Ryo Fujii
Yuji Tsusaka
Tatsuya Mita
Nogaki Yasuki

Application Number:

JP2019011111A

Publication Date:

December 01, 2022

Filing Date:

January 25, 2019

Export Citation:

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Assignee:

Toyota Central R & D Labs.
KABUSHIKI KAISHA TOYOTA JIDOSHOKKI

International Classes:

G01B11/00; B66F9/24; G01B11/26; G05D1/02; G06T7/70

Domestic Patent References:

JP11278799A
JP2018084995A
JP6115897A

Attorney, Agent or Firm:

Patent Attorney Corporation Kaiyu International Patent Office

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