To enable a basic map to be complemented at low cost using a one-dimensional laser, with a combination of the one-dimensional laser and an SLAM applied for the updating of the basic map.SOLUTION: A storage unit 120 stores a basic three-dimensional point group and a complement three-dimensional point group obtained due to that a complement vehicle having a one-dimensional laser mounted therein travels a district. A point group extraction unit 111 extracts, from the complement three-dimensional point group, a reference three-dimensional point group obtained, for each travel time in a travel time slot of the complement vehicle, by multiple laser measurements carried out in a reference time slot in which the travel time is included. A position estimation unit 112 estimates, for each reference time slot, the position of the complement vehicle at a reference time included in the reference time slot by matching of the basic three-dimensional point group with the reference three-dimensional point group.SELECTED DRAWING: Figure 1
【課題】1次元レーザを用いて基盤地図を安価に補完できるようにする。1次元レーザとSLAMとの組み合わせを基盤地図の更新に適用する。【解決手段】記憶部120は、基盤三次元点群と、1次元レーザを搭載した補完車両が前記地域を走行することによって得られる補完三次元点群とを記憶する。点群抽出部111は、前記補完車両の走行時間帯における走行時刻毎に、走行時刻が含まれる参照時間帯に行われた複数回のレーザ計測によって得られた参照三次元点群を前記補完三次元点群から抽出する。位置推定部112は、参照時間帯毎に、前記参照三次元点群と前記基盤三次元点群とのマッチングによって、参照時間帯に含まれる基準時刻における前記補完車両の位置を推定する。【選択図】図1
MAP COMPLEMENTING DEVICE AND MAP COMPLEMENTING PROGRAM
地図補完装置および地図補完プログラム
2019-08-22
Patent
Electronic Resource
Japanese
COMPLEMENTING DEVICE, COMPLEMENTING METHOD AND COMPLEMENTING PROGRAM FOR ELECTRONIC TRIAGE TAG
European Patent Office | 2019
|Energy complementing system and energy complementing method
European Patent Office | 2023
European Patent Office | 2023
|Energy complementing system and energy complementing method of vehicle and vehicle
European Patent Office | 2022
|