To estimate a self-position with a low processing load and with high accuracy even in an environment where satellite positioning is unusable and there is no stationary object around.SOLUTION: Provided is a mobile entity comprising a drive device for movement, a distance image sensor mounted downwardly, and a self-position estimating device for estimating a self-position. The self-position estimating device includes an image overlapping region extraction unit for extracting the overlapping region of an image detected one frame before and a currently detected image, and a position error calculation unit for calculating, with regard to a detection point in the overlapping region, a distance error from the distance image sensor to the detection point on the basis of the distance from the distance image sensor to the detection point and an incident angle, and a calculating, on the basis of the calculated distance error, an error in the current position/attitude of the distance image sensor when the detection point is used.SELECTED DRAWING: Figure 1

    【課題】 衛星測位が利用できず周囲に固定物がない環境でも、低負荷処理かつ高精度な自己位置推定を実施する。【解決手段】 移動用の駆動装置と、下向きに搭載した距離画像センサと、自己位置を推定する自己位置推定装置と、を具備する移動体であって、前記自己位置推定装置は、1フレーム前に検出した画像と現在検出した画像の重複領域を抽出する画像重複領域抽出部と、前記重複領域内の検出点について、前記距離画像センサから前記検出点までの距離と入射角を基に、前記距離画像センサから前記検出点までの距離誤差を算出し、算出した前記距離誤差を基に、前記検出点を用いた場合の前記距離画像センサの現在の位置姿勢の誤差を算出する位置誤差算出部と、を有する移動体。【選択図】 図1


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    Titel :

    MOBILE ENTITY EQUIPPED WITH SELF-POSITION ESTIMATING DEVICE


    Weitere Titelangaben:

    自己位置推定装置を備えた移動体


    Beteiligte:
    IIMURA TAIKI (Autor:in) / YAMAMOTO KENJIRO (Autor:in) / AKIMOTO HIDEKI (Autor:in)

    Erscheinungsdatum :

    21.02.2019


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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