Title:
SELF-POSITION ESTIMATION DEVICE, SELF-POSITION ESTIMATION METHOD AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2024/004265
Kind Code:
A1
Abstract:
This self-position estimation device is equipped with: a first acquisition unit which acquires first sensor data which makes it possible to detect a fixed object which is always present in the periphery of an autonomous moving body and an unfixed object which is temporarily present therein; a second acquisition unit for acquiring second sensor data which includes the acceleration and the angular velocity of the autonomous moving body; a first estimation unit for estimating a partial parameter, which is one part of a parameter of the six degrees of freedom, which represent the position and the orientation of the autonomous moving body in a three-dimensional coordinate system, on the basis of the first sensor data and known information, which records information including the position in the area of travel of a mark, which is one fixed object selected in advance from among the plurality of fixed objects; and a second estimation unit for estimating the self-position of the autonomous moving body on the basis of the first sensor data, the second sensor data and the partial parameter.
Inventors:
NAKAO KENTA (JP)
SUGIMOTO KIICHI (JP)
TAKEUCHI MIZUHO (JP)
KINOUCHI YUSUKE (JP)
TAKAO KENJI (JP)
HAZUI YUSUKE (JP)
SUGIMOTO KIICHI (JP)
TAKEUCHI MIZUHO (JP)
KINOUCHI YUSUKE (JP)
TAKAO KENJI (JP)
HAZUI YUSUKE (JP)
Application Number:
PCT/JP2023/005802
Publication Date:
January 04, 2024
Filing Date:
February 17, 2023
Export Citation:
Assignee:
MITSUBISHI HEAVY IND LTD (JP)
International Classes:
G01C21/28; G01C23/00; G08G1/16
Foreign References:
| JP2020134517A | 2020-08-31 | |||
| CN111707275A | 2020-09-25 |
Attorney, Agent or Firm:
MATSUNUMA Yasushi et al. (JP)
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