Title:
INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND COMPUTER PROGRAM
Document Type and Number:
WIPO Patent Application WO/2024/071155
Kind Code:
A1
Abstract:
A position estimation unit in this information processing device for estimating the position of an object executes a stochastic filtering process in which a prediction step for calculating a preliminary estimation value and a preliminary error covariance using a dynamic model, and a filtering step for calculating a postliminary estimation value and a postliminary error covariance on the basis of observation data obtained by a sensor as well as the preliminary estimation value and the preliminary error covariance, are executed in sequence. The position estimation unit includes an outlier detection unit that assesses whether the observation data is an outlier, and an outlier identification unit that identifies whether the outlier is a negative outlier or a positive outlier. When the observation data is a negative outlier, the position estimation unit executes one of a compensation process for carrying out compensation using the observation data and an exclusion process for excluding the observation data. When the observation data is a positive outlier, the position estimation unit executes the other of the compensation process and the exclusion process.
Inventors:
YAMADA YOJI (JP)
KIM EUGENE (JP)
KIM EUGENE (JP)
Application Number:
PCT/JP2023/035050
Publication Date:
April 04, 2024
Filing Date:
September 27, 2023
Export Citation:
Assignee:
NATIONAL UNIV CORPORATION TOKAI NATIONAL HIGHER EDUCATION AND RESEARCH SYSTEM (JP)
International Classes:
G01S7/32; G01S13/70; G01S13/93
Foreign References:
| JP2019207607A | 2019-12-05 | |||
| JP2022135188A | 2022-09-15 | |||
| JP2021135242A | 2021-09-13 | |||
| JP2020052676A | 2020-04-02 |
Attorney, Agent or Firm:
ALPHA INTERNATIONAL PATENT FIRM (JP)
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