MOBILE BODY, LOCATION ESTIMATION DEVICE, AND COMPUTER PROGRAM

WIPO Patent Application WO/2019/044498

A1

This location estimation device comprises: an external sensor 102; a storage device 104 that stores a plurality of partial environment maps that include a first partial environment map and a second partial environment map that are linked by a coordinate transformation relationship; and a location estimation device 106 that performs matching between scan data from the external sensor 102 and the partial environment maps and estimates the location and posture of a mobile body. When the estimated location of the mobile body 10 has moved from the first partial environment map to the second partial environment map, the location estimation device 106 uses the coordinate transformation relationship to determine a corresponding location and a corresponding posture on the second partial environment map for the estimated location and the estimated posture of the mobile body on the first partial environment map, uses a history for the estimated location and the estimated posture of the mobile body on the first partial environment map to correct the corresponding location and the corresponding posture on the second partial environment map for the time at which matching for estimating the location and the posture of the mobile body on the second partial environment map begins, and performs matching using the corrected corresponding location and corresponding posture as initial values.

SUZUKI SHINJI (JP)
SAEKI TETSUO (JP)
NAKATANI MASAJI (JP)

PCT/JP2018/030306

March 07, 2019

August 14, 2018

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NIDEC CORP (JP)

G05D1/02

WO2014076844A1

2014-05-22

JP2015215651A	2015-12-03
JP2009157430A	2009-07-16

OKUDA Seiji (JP)

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