Title:
BEHAVIOR ESTIMATION DEVICE, BEHAVIOR ESTIMATION METHOD, ROUTE GENERATION DEVICE, ROUTE GENERATION METHOD, AND COMPUTER-READABLE RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/091305
Kind Code:
A1
Abstract:
This behavior estimation device 10 has: a behavior analysis unit 11 that generates first behavior analysis data representing the actual behavior of a mobile body in a first environment; an environmental analysis unit 13 that analyzes the first environment on the basis of environmental state data representing the state of the first environment, and that generates environmental analysis data; an estimation unit 14 that inputs the environmental analysis data into a model for estimating the behavior of the mobile body in the first environment, and that estimates the behavior of the mobile body in the first environment; and a learning instruction unit 15 that sets a confidence interval on the basis of behavior estimation result data obtained through estimation by the model, and that, when the first behavior analysis data is within the set confidence interval, instructs the learning unit 12 that learns the model to relearn the model.
Inventors:
INOTSUME HIROAKI (JP)
Application Number:
PCT/JP2020/040670
Publication Date:
May 05, 2022
Filing Date:
October 29, 2020
Export Citation:
Assignee:
NEC CORP (JP)
International Classes:
G05D1/02; B60W40/06; B60W40/10; G01C21/34; G08G1/00
Domestic Patent References:
| WO2019176354A1 | 2019-09-19 |
Foreign References:
| JPH1074188A | 1998-03-17 | |||
| JP2020067980A | 2020-04-30 | |||
| JP2018529175A | 2018-10-04 | |||
| JP2019529898A | 2019-10-17 | |||
| JP2011150627A | 2011-08-04 |
Other References:
MOROMOTO, JUNYA; HAYASHI, TAKUYA; FUJIMOTO, HIROYUKI; ISHI, HIROYUKI; OHYA, JUN; YAMATO, JUNJI; TAKANISHI ATSUO: "S1-3 Study of the Path Planning Based on SLAM and Semantic Segmentation by Deep Learning for Forest Environmental Monitoring Robot", VISUAL/MEDIA COMPUTING CONFERENCE 2018 PREPRINTS OF THE 46TH ANNUAL CONFERENCE OF THE INSTITUTE OF IMAGE ELECTRONICS ENGINEERS OF JAPAN; 2018/06/21 - 2018/06/23, vol. 46, 30 November 2017 (2017-11-30) - 23 June 2018 (2018-06-23), pages 1 - 5, XP009538127, ISSN: 2436-4371, DOI: 10.11371/aiieej.46.0_3
FANKHAUSER PETER, BLOESCH MICHAEL, HUTTER MARCO: "Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization", IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 3, no. 4, 1 October 2018 (2018-10-01), pages 3019 - 3026, XP055872229, DOI: 10.1109/LRA.2018.2849506
FUJII, AKINOBU : "AC1H1-03 Automatic map update system based on the probability of deviation occurrence between the map and the measured value", PROCEEDINGS OF THE 35TH ANNUAL CONFERENCE OF THE RSJ (ROBOTICS SOCIETY OF JAPAN); TOKYO, JAPAN; SEPTEMBER 9-14, 2017, vol. 35, September 2017 (2017-09-01), pages 1 - 4, XP009538128
BO ZHOU ; KUN QIAN ; XUDONG MA ; XIANZHONG DAI: "Probabilistic terrain modeling of mobile robots for outdoor applications using a scanning laser", MECHATRONICS AND AUTOMATION (ICMA), 5 August 2012 (2012-08-05), pages 1716 - 1721, XP032224580, ISBN: 978-1-4673-1275-2, DOI: 10.1109/ICMA.2012.6284395
ZHOU RUYI; DING LIANG; GAO HAIBO; FENG WENHAO; DENG ZONGQUAN; LI NAN: "Mapping for Planetary Rovers from Terramechanics Perspective*", 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 3 November 2019 (2019-11-03), pages 1869 - 1874, XP033695554, DOI: 10.1109/IROS40897.2019.8967984
MASHA DITEBOGO; BURKE MICHAEL; TWALA BHEKISIPHO: "Slip estimation methods for proprioceptive terrain classification using tracked mobile robots", 2017 PATTERN RECOGNITION ASSOCIATION OF SOUTH AFRICA AND ROBOTICS AND MECHATRONICS (PRASA-ROBMECH), 30 November 2017 (2017-11-30), pages 150 - 155, XP033300808, DOI: 10.1109/RoboMech.2017.8261139
FANKHAUSER PETER, BLOESCH MICHAEL, HUTTER MARCO: "Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization", IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 3, no. 4, 1 October 2018 (2018-10-01), pages 3019 - 3026, XP055872229, DOI: 10.1109/LRA.2018.2849506
FUJII, AKINOBU : "AC1H1-03 Automatic map update system based on the probability of deviation occurrence between the map and the measured value", PROCEEDINGS OF THE 35TH ANNUAL CONFERENCE OF THE RSJ (ROBOTICS SOCIETY OF JAPAN); TOKYO, JAPAN; SEPTEMBER 9-14, 2017, vol. 35, September 2017 (2017-09-01), pages 1 - 4, XP009538128
BO ZHOU ; KUN QIAN ; XUDONG MA ; XIANZHONG DAI: "Probabilistic terrain modeling of mobile robots for outdoor applications using a scanning laser", MECHATRONICS AND AUTOMATION (ICMA), 5 August 2012 (2012-08-05), pages 1716 - 1721, XP032224580, ISBN: 978-1-4673-1275-2, DOI: 10.1109/ICMA.2012.6284395
ZHOU RUYI; DING LIANG; GAO HAIBO; FENG WENHAO; DENG ZONGQUAN; LI NAN: "Mapping for Planetary Rovers from Terramechanics Perspective*", 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 3 November 2019 (2019-11-03), pages 1869 - 1874, XP033695554, DOI: 10.1109/IROS40897.2019.8967984
MASHA DITEBOGO; BURKE MICHAEL; TWALA BHEKISIPHO: "Slip estimation methods for proprioceptive terrain classification using tracked mobile robots", 2017 PATTERN RECOGNITION ASSOCIATION OF SOUTH AFRICA AND ROBOTICS AND MECHATRONICS (PRASA-ROBMECH), 30 November 2017 (2017-11-30), pages 150 - 155, XP033300808, DOI: 10.1109/RoboMech.2017.8261139
Attorney, Agent or Firm:
BRIGHTAS IP ATTORNEYS (JP)
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