Title:
自律移動体及び自律移動体の位置推定方法
Document Type and Number:
Japanese Patent JP6390540
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide an autonomous mobile body capable of accurately estimating a position of the autonomous mobile body, and a position estimation method for the autonomous mobile body.SOLUTION: An autonomous mobile body 1 comprises: an image acquisition section 10 acquiring a picked-up image and a distance image of surroundings; a feature extraction section 20 extracting an actual image feature and acquiring positional information thereof; a map creation section 30 creating a distribution map of the actual image feature; a map storage section 40 storing an image feature map; a feature position estimation section 50 collating the distribution map of the actual image feature with the image feature map, detecting a position on the image feature map corresponding to the distribution map and estimating an absolute position of the actual image feature; and a self-position estimation section 60 estimating a self-absolute position based on the absolute position of the actual image feature and the positional information of the actual image feature.SELECTED DRAWING: Figure 1
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Inventors:
Takaoka Yutaka
Application Number:
JP2015143090A
Publication Date:
September 19, 2018
Filing Date:
July 17, 2015
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
G05D1/02
Domestic Patent References:
| JP201122157A | ||||
| JP2001307072A |
Attorney, Agent or Firm:
Ken Ieiri