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Title:
POSITION ESTIMATION SYSTEM, MOVING BODY COMPRISING SAID POSITION ESTIMATION SYSTEM, AND COMPUTER PROGRAM
Document Type and Number:
WIPO Patent Application WO/2019/194079
Kind Code:
A1
Abstract:
[Problem] To provide a self-estimation system capable of self-position estimation even if a portion of a map does not represent the actual environment. [Solution] A position estimation system (115) according to this disclosure is for a moving body and is used while being connected to an external sensor for repeatedly scanning an environment and outputting sensor data for each scan. The position estimation system (115) comprises a processor (106), a first memory (104) for storing an environment map that has been prepared beforehand, and a second memory (107) for storing a computer program for operating the processor. The processor carries out (A) first position estimation processing for generating first estimated values for the position and orientation of the moving body on the basis of the results of comparing the environment map and the sensor data, (B) second position estimation processing for using the sensor data to generate a reference map for the surrounding area while generating second estimated values for the position and orientation of the moving body on the basis of the results of comparing the reference map and the sensor data, and (C) processing in which the first estimated values or second estimated values are selected and the selected estimated values are output as the selected estimated values for the position and orientation of the moving body.

Inventors:
SUZUKI, Shinji (338 Kuzetonoshiro-cho Minami-ku, Kyoto-sh, Kyoto 05, 〒6018205, JP)
SAEKI, Tetsuo (338 Kuzetonoshiro-cho Minami-ku, Kyoto-sh, Kyoto 05, 〒6018205, JP)
Application Number:
JP2019/013741
Publication Date:
October 10, 2019
Filing Date:
March 28, 2019
Export Citation:
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Assignee:
NIDEC CORPORATION (338 Kuzetonoshiro-cho, Minami-ku Kyoto-sh, Kyoto 05, 〒6018205, JP)
International Classes:
G05D1/02
Foreign References:
JP2017045447A2017-03-02
JP2017146893A2017-08-24
JP2010277548A2010-12-09
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