Title:
SELF-POSITION ESTIMATION DEVICE, AUTONOMOUS MOVING BODY, SELF-POSITION ESTIMATION METHOD AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2021/065594
Kind Code:
A1
Abstract:
This self-position estimation device comprises a first self-position estimation unit, a second self-position estimation unit, and a first integration unit. The first self-position estimation unit estimates a current first self-position of an autonomous moving body based on current image information acquired using an image sensor, and environmental map information stored by an environmental map information storage unit. The second self-position estimation unit estimates a current second self-position of the autonomous moving body based on current image information, and learned parameters learned using the environmental map information. The first integration unit estimates the current self-position of the autonomous moving body by integrating the first self-position and the second self-position.
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Inventors:
YOSHIMURA SHIN (JP)
Application Number:
PCT/JP2020/035687
Publication Date:
April 08, 2021
Filing Date:
September 23, 2020
Export Citation:
Assignee:
SONY SEMICONDUCTOR SOLUTIONS CORP (JP)
International Classes:
G05D1/02; G01C21/30; G06T7/70
Domestic Patent References:
| WO2016139747A1 | 2016-09-09 |
Foreign References:
| JP2019007739A | 2019-01-17 | |||
| JP2007322138A | 2007-12-13 |
Attorney, Agent or Firm:
SAKAI INTERNATIONAL PATENT OFFICE (JP)
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