Provided is a moving body capable of searching for a region suitable for achieving a specified state in the vicinity of a target location in accordance with an instruction in view of the intention of an instructor in an instruction that is potentially fuzzy and that is specified in a space based on the target location. A user's instruction and scene maps (SG1-SG3) created on the basis of an environment image corresponding to the position of the moving body (20) and the direction facing the designated location are used as input data to construct a model. The feature amount of the first-level node constituting the state scene graph (SG1) is defined on the basis of the relative arrangement relationship (distance and angle) with respect to each object with the position of the moving body (20) as a reference. The feature amount of the first-level node constituting the state scene graph (SG1) is defined in accordance with the space occupancy state of each object.
提供一种移动体,鉴于以目标场所为基准的空间指定潜在于模糊的指示中的指示者意图,移动体能够按照该指示在目标场所的周边搜索适合于实现指定状态的区域。用户的指示以及根据与移动体(20)的位置和面向指定场所的方向对应的环境图像而制作的场景图(SG1~SG3)被用作输入数据,来构建模型。构成状态场景图(SG1)的一级节点的特征量是根据以移动体(20)的位置为基准的与各对象的相对配置关系(距离和角度)来定义的。构成状态场景图(SG1)的一级节点的特征量是根据各对象的空间占有状态来定义的。
Moving body assistance device and moving body system
移动体辅助装置及移动体系统
2025-03-14
Patent
Electronic Resource
Chinese
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