To carry out self-position estimation and terrain measurement with high accuracy even when it rains.SOLUTION: Provided is a mobile entity comprising: a distance image sensor; a tentative self-position calculation unit for calculating the current tentative self-position and attitude on the basis of the distance to road surface in multiple directions currently detected by the distance image sensor, the distance to road surface in multiple directions detected in the past and the past self-position and attitude; a road surface distance calculation unit for recalculating each of the distances to a point on road surface in multiple directions detected in the past and at present, respectively, on the basis of the past self-position and attitude and the current tentative self-position and attitude and calculating a tentative terrain; a reliability calculation unit for calculating, for each of a point detected in the past and a point detected at present, a ratio of the distance to the point detected by the distance image sensor to the recalculated distance to the point on road surface in multiple directions; and a terrain correction unit for correcting, on the basis of the ratio, the distances to the point on road surface in multiple directions detected in the past and at present, respectively, and correcting the current tentative self-position and attitude and the terrain on the basis of the corrected distances and the past self-position and attitude.SELECTED DRAWING: Figure 1
【課題】 雨が降っても高精度に自己位置推定と地形計測を実施する。【解決手段】 距離画像センサと、距離画像センサで現在検出した複数方向の路面までの距離と、過去に検出した複数方向の路面までの距離と、過去の自己位置及び姿勢とを基に、現在の暫定の自己位置及び姿勢を算出する暫定自己位置算出部と、過去の自己位置及び姿勢と、現在の暫定の自己位置及び姿勢とを基に、過去と現在で検出した複数方向の路面上の点までの距離をそれぞれ再計算し、暫定の地形を計算する路面距離計算部と、再計算した複数方向の路面上の点までの距離に対する、距離画像センサで検出した点までの距離の比率を、過去に検出した点と現在検出した点のそれぞれについて計算する信頼度計算部と、比率を基に、過去と現在にそれぞれ検出した複数方向の路面上の点までの距離を修正し、修正した距離と、過去の自己位置及び姿勢を基に、現在の暫定の自己位置と姿勢と地形を修正する自己位置及び地形修正部と、を有する移動体。【選択図】 図1
MOBILE ENTITY EQUIPPED WITH SELF-POSITION ESTIMATING AND TERRAIN MEASURING DEVICE
自己位置推定及び地形計測装置を備えた移動体
2019-01-31
Patent
Electronic Resource
Japanese
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
MOBILE ENTITY EQUIPPED WITH SELF-POSITION ESTIMATING DEVICE
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