Title:
LOCATION ESTIMATION SYSTEM AND MOBILE BODY COMPRISING LOCATION ESTIMATION SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/044500
Kind Code:
A1
Abstract:
This location estimation system 115 comprises: a processor 106; and memory 107 that stores a computer program that makes the processor 106 operate. The processor 106: acquires scan data from an external sensor 102 and creates a reference map from the scan data; performs matching between newly acquired latest scan data and the reference map and thereby estimates a location and a posture on the reference map and updates the reference map by adding the latest scan data to the reference map; resets the reference map by deleting, from the reference map after multiple updates, everything but one portion that includes the latest scan data; and updates an environment map on the basis of the pre-resetting reference map.
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Inventors:
SUZUKI SHINJI (JP)
SAEKI TETSUO (JP)
NAKATANI MASAJI (JP)
SAEKI TETSUO (JP)
NAKATANI MASAJI (JP)
Application Number:
PCT/JP2018/030308
Publication Date:
March 07, 2019
Filing Date:
August 14, 2018
Export Citation:
Assignee:
NIDEC CORP (JP)
International Classes:
G01S17/89; G05D1/02; G01S17/931; G09B29/10
Domestic Patent References:
| WO2012176249A1 | 2012-12-27 | |||
| WO2015151770A1 | 2015-10-08 |
Foreign References:
| JP2017097402A | 2017-06-01 | |||
| JP2017117386A | 2017-06-29 | |||
| JPH10143243A | 1998-05-29 | |||
| JP2011112644A | 2011-06-09 | |||
| JP2017107425A | 2017-06-15 | |||
| JP2008250905A | 2008-10-16 | |||
| JP2012089174A | 2012-05-10 | |||
| JP2010066595A | 2010-03-25 |
Other References:
IWASINA, SHINYA ET AL.: "3-D SLAM in Dynamic Environments by a Mobile Robot Equipped with two Laser Range Finders (RSJ2008AC2H2-03)", PROCEEDINGS OF THE ANNUAL MEETING OF THE ROBOTICS SOCIETY OF JAPAN (RSJ 2008), vol. 26, 9 September 2008 (2008-09-09), pages RSJ2008AC2H2-03 , XP009520390, Retrieved from the Internet
NAKAMOTO, TAKUMI: "3-D Map Generation in a Dynamic Environment by a Mobile Robot Equipped with Laser Range Finders", IEICE TECHNICAL REPORT. WIT2006 17-30, vol. 106, no. 144, 29 June 2006 (2006-06-29), pages 25 - 30, XP009520383, ISSN: 0913-5685
NAKAMOTO, TAKUMI: "3-D Map Generation in a Dynamic Environment by a Mobile Robot Equipped with Laser Range Finders", IEICE TECHNICAL REPORT. WIT2006 17-30, vol. 106, no. 144, 29 June 2006 (2006-06-29), pages 25 - 30, XP009520383, ISSN: 0913-5685
Attorney, Agent or Firm:
OKUDA Seiji (JP)
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