Title:
AUTONOMOUS TRAVELING VEHICLE, AND OWN-POSITION ESTIMATING METHOD FOR AUTONOMOUS TRAVELING VEHICLE
Document Type and Number:
WIPO Patent Application WO/2022/202915
Kind Code:
A1
Abstract:
An autonomous traveling vehicle (10) is provided with a camera (41), and an own-position estimating unit (86) configured to estimate an own-position using map data (M1) in which position information is associated with each of a plurality of items of map image data (IM11 to IM13), and image data (IM1) acquired from the camera (41). The own-position estimating unit (86) is configured to: obtain clipped-out image data (IM21) from the image data (IM1); identify the map image data (IM13) corresponding to the clipped-out image data (IM21) by matching the clipped-out image data (IM21) and at least one of the plurality of items of map image data (IM11 to IM13); and to estimate the own-position from a relative positional relationship between the identified map image data (IM13) and the clipped-out image data (IM21). The position information is associated with coordinates representing a position of an optical axis of the camera (41) in a coordinate system representing pixel positions in the corresponding map image data (IM11 to IM13).
Inventors:
UNO TAKASHI (JP)
Application Number:
PCT/JP2022/013624
Publication Date:
September 29, 2022
Filing Date:
March 23, 2022
Export Citation:
Assignee:
TOYOTA JIDOSHOKKI KK (JP)
International Classes:
G01C21/30; G05D1/02; G09B29/00; G09B29/10
Foreign References:
| JP2019194757A | 2019-11-07 | |||
| JP2016118824A | 2016-06-30 | |||
| US8725413B2 | 2014-05-13 | |||
| JP2012127896A | 2012-07-05 |
Attorney, Agent or Firm:
ONDA Makoto et al. (JP)
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