Title:
POSITION ESTIMATION DEVICE, POSITION ESTIMATION METHOD, AND CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2017/168472
Kind Code:
A1
Abstract:
A position estimation device (100) which estimates the position of a moving body in a space, is provided with: a measurement unit (110) which measures respective positions and colors of a plurality of points in a local space surrounding the moving body; an extraction unit (120) that extracts, from the result of measurement by the measurement unit (110), positional information and color information for each voxel among voxels which are three-dimensionally arranged in association with the local space; a map management unit (130) that manages positional information and color information for each voxel among voxels which are three-dimensionally arranged in association with a space expressed by a map; and a position estimation unit (140) that estimates the position of the moving body according to the positional information and color information extracted by the extraction unit (120), on the basis of the positional information and color information managed by the map management unit (130).
Inventors:
ISHIGAMI TOMOHIDE
Application Number:
PCT/JP2016/003850
Publication Date:
October 05, 2017
Filing Date:
August 24, 2016
Export Citation:
Assignee:
PANASONIC IP MAN CO LTD (JP)
International Classes:
G01C21/20; G01C15/00; G06T7/20; G06T7/60
Domestic Patent References:
| WO2007069726A1 | 2007-06-21 |
Foreign References:
| JP2011191239A | 2011-09-29 | |||
| JP2013187862A | 2013-09-19 | |||
| JP2010134499A | 2010-06-17 |
Attorney, Agent or Firm:
KAMATA, Kenji et al. (JP)
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