PROBLEM TO BE SOLVED: To provide a self-location estimation device capable of adjusting a calculation quantity according to quality of observational data while achieving a balance between a resource and accuracy.SOLUTION: A self-location estimation device comprises: means 401 that acquires relative coordinate information for multiple objects; means 402 that selects one piece from the acquired pieces of relative coordinate information; means 403 that, on the basis of the selected relative coordinate information and a database storing absolute coordinate information for the object, retrieves multiple candidates corresponding to the selected object from the database, and then calculates a difference in the relative coordinate between each of the retrieved candidates and the selected object; means 404 that uses the absolute coordinate information for the candidate and a prescribed algorithm to estimate a self-location, on the assumption that a candidate having the minimum difference among the differences falls under the selected object; means 405 that records the differences; means 406 that determines whether or not an average of the prescribed number of differences arranged in ascending order among the recorded differences is smaller than a prescribed threshold; and means 407 that discontinues the selection when the average is determined to be smaller, and then outputs the estimated self-location.
【課題】観測データの質に応じ、計算量をリソースと精度のバランスを取り調整できる自己位置推定装置などを提供する。【解決手段】複数の物体の相対座標情報を取得する手段401と、取得の中から1つを選択する手段402と、選択された相対座標情報と物体の絶対座標情報を格納したデータベースとに基づき、選択された物体に対応する候補をデータベースから複数検索し、検索された候補の相対座標と選択された物体の相対座標との差分をそれぞれ算出する手段403と、複数の差分のうち最も小さい差分の候補が選択された物体に該当し、候補の絶対座標情報と所定のアルゴリズムを用いて自己位置を推定する手段404と、複数の差分を記録する手段405と、記録された複数の差分のうち最小のものから順に所定の個数までの差分の平均値が所定の閾値より小さいか判断する手段407と、小さい場合選択を中止し、推定された自己位置を出力する手段407とを備える。【選択図】図4
SELF-LOCATION ESTIMATION DEVICE AND SELF-LOCATION ESTIMATION METHOD
自己位置推定装置及び自己位置推定方法
2015-08-24
Patent
Electronic Resource
Japanese
IPC: | 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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