Title:
MAP GENERATION DEVICE, MAP GENERATION METHOD, AND COMPUTER-READABLE RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/234385
Kind Code:
A1
Abstract:
This map generation device 10 comprises: a data acquisition unit 11 which acquires, in units of frames, image data from depth sensors; a feature point extraction unit 12 which extracts, for each frame, feature points from the image data; a filtering unit 13 which selects, for each of the frames, a specific feature point, and excludes the selected specific feature point when the depth of the selected specific feature point is greater by a threshold value or more than a minimum value of the depths of a plurality of other feature points that are arrayed in a specific direction of the selected specific feature point and the image; and an environment map generation unit 14 which identifies a group of feature points corresponding between the frames, calculates three-dimensional coordinates of the feature points identified as the group, uses the calculation result, and generates an environment map composed of a set of the feature points identified as the group.
Inventors:
ONO SHOHEI (JP)
KURITA YUJI (JP)
KISHIMA SATOSHI (JP)
FUKAYA YASUTOSHI (JP)
KURITA YUJI (JP)
KISHIMA SATOSHI (JP)
FUKAYA YASUTOSHI (JP)
Application Number:
PCT/JP2023/020403
Publication Date:
December 07, 2023
Filing Date:
June 01, 2023
Export Citation:
Assignee:
NEC SOLUTION INNOVATORS LTD (JP)
International Classes:
G05D1/02; G06T7/55; G06T17/05; G09B29/00
Domestic Patent References:
| WO2021200432A1 | 2021-10-07 |
Other References:
TAZAKI, YUICHI: "A Survey of LiDAR-Based SLAM Techniques", SYSTEMS, CONTROL AND INFORMATION, SHISUTEMU SEIGYO JOHO GAKKAI, KYOTO, JP, vol. 64, no. 2, 15 February 2020 (2020-02-15), JP , pages 51 - 56, XP009551408, ISSN: 0916-1600, DOI: 10.11509/isciesci.64.2_51
Attorney, Agent or Firm:
BRIGHTAS IP ATTORNEYS (JP)
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