The present invention provides a moving object capable of more appropriately reducing the influence of noise when generating a lattice-like map representing the position of an object on the basis of three-dimensional point cloud data. The moving body is provided with: an acquisition means for acquiring three-dimensional point cloud data around the moving body; and a generation means for generating a lattice map on the basis of the three-dimensional point cloud data, the generation means associating the point cloud of the three-dimensional point cloud data with lattices on a horizontal plane parallel to the road surface on which the moving body travels, and generating a lattice map indicating whether or not there is a three-dimensional structure having a height or a difference in height that is equal to or greater than a predetermined value in each lattice. The generation means determines, for each lattice in the lattice map, whether or not there is a stereo on the basis of a point density when a point cloud corresponding to each lattice in the three-dimensional point cloud data is projected onto a horizontal plane.
本发明提供一种在基于三维点云数据而生成表示物体的位置的格子状的地图时,能够更适当地减少噪声的影响的移动体。所述移动体具有:获取机构,其获取移动体的周围的三维点云数据;以及生成机构,其是基于三维点云数据而生成格子地图的生成机构,将三维点云数据的点云对应于与移动体行驶的路面平行的水平面上的格子,生成对各格子是否存在具有预定以上的高度或者高低差的立体进行表示的格子地图,生成机构针对格子地图的各格子,基于将三维点云数据中的与各格子对应的点云投射于水平面时的点密度,判断是否存在立体。
Mobile body, control method for mobile body, recording medium, and mobile body control system
移动体、移动体的控制方法、记录介质及移动体控制系统
2024-04-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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