Title:
OWN POSITION ERROR ESTIMATION DEVICE AND OWN POSITION ERROR ESTIMATION METHOD
Document Type and Number:
WIPO Patent Application WO/2023/188927
Kind Code:
A1
Abstract:
Provided is an own position error estimation device comprising: an image acquisition unit that acquires an image that is captured by an imaging unit mounted on a mobile object and shows the surroundings of the mobile object; an environment map data creation unit that creates environment map data on the basis of the image; and an own position estimation unit that calculates the current own position of the mobile object on the basis of the environment map data and an image captured after creation of the environment map data. The own position estimation unit comprises: a first error calculation unit that calculates a first error of the own position on the basis of a map-point related error calculated at the time of creation of the environment map data; a second error calculation unit that calculates a second error of the own position from images captured during movement of the mobile object on the basis of a plurality of positions and postures of the imaging unit; and a third error calculation unit that calculates a third error of the own position reflecting the first error and the second error.
Inventors:
HAYAKAWA KAZUTAKA (JP)
Application Number:
PCT/JP2023/005161
Publication Date:
October 05, 2023
Filing Date:
February 15, 2023
Export Citation:
Assignee:
AISIN CORP (JP)
International Classes:
G01C21/28
Domestic Patent References:
| WO2018181974A1 | 2018-10-04 | |||
| WO2017168899A1 | 2017-10-05 |
Foreign References:
| JP2020153956A | 2020-09-24 |
Attorney, Agent or Firm:
SAKAI INTERNATIONAL PATENT OFFICE (JP)
Download PDF: