Traveling surface shape data of only a selection region selected on the basis of target foot placement information of a moving apparatus and a search range region is generated and a foot placement position and the like of the moving apparatus are determined, so that the processing load is reduced and high-speed processing is enabled. A data processing unit that analyzes detection information of a visual sensor and determines a movement route of the moving apparatus is provided, and the data processing unit generates traveling surface shape data such as three-dimensional point cloud data that enables analysis of a shape of a traveling surface of the moving apparatus. The data processing unit selects a generation target region of the traveling surface shape data on the basis of the target movement route information of the moving apparatus and a predetermined search range region, generates the traveling surface shape data in the selection region selected, and determines a movement route such as a foot placement position of the moving apparatus with reference to the generated traveling surface shape data.
MOVING APPARATUS AND MOVING APPARATUS CONTROL METHOD
2024-02-22
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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