Title:
INFORMATION PROCESSING DEVICE AND MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO/2020/183658
Kind Code:
A1
Abstract:
[Problem] To provide an information processing device and a mobile robot with which it is possible to suppress incorrect assessment of objects and improve map precision. [Solution] This information processing device (2) comprises: a detection means (4) that acquires, as detection information, the presence of an object in the surroundings of the mobile robot (1); a control means (3) that controls the detection means (4); and a map construction means (5) for constructing an occupation map (M2). The map construction means (5) comprises a storage unit (55) that stores the detection information in time series, a map creation unit (52) that creates the map on the basis of the detection information, a normal line acquisition unit (53) that acquires the normal line of an assessment point on the basis of the presence of the object in the surroundings of the assessment point in a temporary map created by the map creation unit (52), and a validity assessment unit (54) that assesses the validity of the detection information for each assessment point on the basis of the angle formed between the beam line and the normal line of each assessment point.
Inventors:
HARA YOSHITAKA (JP)
TOMONO MASAHIRO (JP)
TOMONO MASAHIRO (JP)
Application Number:
PCT/JP2019/010327
Publication Date:
September 17, 2020
Filing Date:
March 13, 2019
Export Citation:
Assignee:
CHIBA INSTITUTE OF TECH (JP)
International Classes:
G08G1/16; G01B21/00; G01C21/26; G05D1/00; G06T1/00; G08G1/00; G09B29/00
Foreign References:
| JP2009252162A | 2009-10-29 | |||
| JP2009223757A | 2009-10-01 | |||
| JP2005332204A | 2005-12-02 | |||
| JP2016091202A | 2016-05-23 | |||
| US20150185025A1 | 2015-07-02 |
Other References:
See also references of EP 3940670A4
Attorney, Agent or Firm:
FUKUI Hitoshi (JP)
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