Provided are an information processing device and a mobile robot capable of reducing erroneous object determination and improving a map accuracy. An information processing device (2) includes a detection section (4) configured to acquire the presence or absence of an object at the periphery of a mobile robot (1) as the detection information, a control section (3) configured to control the detection section (4), and a map construction section (5) configured to construct an occupied map (M2). The map construction section (5) includes a storage (55) configured to store the detection information in chronological order, a map producer (52) configured to produce a map based on the detection information, a normal line acquirer (53) configured to acquire a normal line to each determination point based on the presence or absence of the object at the periphery of each determination point on the temporal map produced by the map producer (52), and a validity determinator (54) configured to determine the validity of the detection information on each determination point based on an angle between each beam and the normal line at each determination point.
INFORMATION PROCESSING DEVICE AND MOBILE ROBOT
INFORMATIONSVERARBEITUNGSVORRICHTUNG UND MOBILER ROBOTER
DISPOSITIF DE TRAITEMENT DE L'INFORMATION ET ROBOT MOBILE
2024-09-11
Patent
Electronic Resource
English
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES |
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