Title:
MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/218826
Kind Code:
A1
Abstract:
Provided are a device and a method that realize movement in accordance with a predefined route even when absolute position information such as a GPS signal from the outside cannot be inputted. The present invention involves: executing comparison of a key frame database, in which feature amounts of key frames selected from captured images, captured by a camera, of a moving space for a mobile body such as a drone and the position/attitude of the key frames in a coordinate system defining the moving space are associated with each other and registered, with a feature amount of a captured image captured by the camera of the mobile body, and with a key frame feature amount; calculating the position/attitude of the mobile body on the basis of a key frame position/attitude in a moving-space-defining coordinate system registered in the database in association with a key frame with which comparison shows a successful result; and executing moving control of the mobile body on the basis of the calculated position/attitude.
Inventors:
OI KENICHIRO (JP)
TOYOSHI MASAHIKO (JP)
MOTOYAMA TAKUTO (JP)
TOYOSHI MASAHIKO (JP)
MOTOYAMA TAKUTO (JP)
Application Number:
PCT/JP2023/014447
Publication Date:
November 16, 2023
Filing Date:
April 07, 2023
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
G05D1/02; G05D1/10; G06T7/20
Domestic Patent References:
| WO2022014322A1 | 2022-01-20 |
Foreign References:
| JP2022523312A | 2022-04-22 | |||
| JP2021086537A | 2021-06-03 | |||
| JP2021193538A | 2021-12-23 | |||
| JP2022023508A | 2022-02-08 |
Attorney, Agent or Firm:
MIYATA, Masaaki et al. (JP)
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