Title:
GRAPH STRUCTURE ESTIMATION DEVICE, SLAM DEVICE, GRAPH STRUCTURE ESTIMATION METHOD, COMPUTER PROGRAM AND STORAGE MEDIUM
Document Type and Number:
Japanese Patent JP2020135595
Kind Code:
A
Abstract:
To provide a technology that improves estimation accuracy of a state of each edge changing due to an impact of a newly obtained edge.SOLUTION: A graph structure estimation device, which estimates a graph structure including continuous nodes and an edge connecting the continuous nodes, comprises: a creation unit that creates node information including a position of the node, and edge information including an amount of edge state and a dispersion of the amount of edge state; and a storage unit that stores the node information and edge information. When satisfying an additional edge creation condition, the creation unit is configured to further create edge information on an additional edge from non-continuous nodes, and update the node information on the continuous nodes and edge information on the edge connecting the continuous nodes, using the edge information on the additional edge.SELECTED DRAWING: Figure 1
Inventors:
TAGUCHI SHUN
Application Number:
JP2019030260A
Publication Date:
August 31, 2020
Filing Date:
February 22, 2019
Export Citation:
Assignee:
TOYOTA CENTRAL RES & DEV
International Classes:
G06F16/00
Domestic Patent References:
| JP2012064131A | 2012-03-29 |
Foreign References:
| US20180113469A1 | 2018-04-26 |
Attorney, Agent or Firm:
Junya Tanabe
Mayu Honda
Mayu Honda