Title:
ＳＬＡＭ装置、ＳＬＡＭ攻撃対策プログラムおよび自律型モビリティ
Document Type and Number:
Japanese Patent JP7412665
Kind Code:
B2
Abstract:
This SLAM device (200) executes SLAM by using first three-dimensional point group data based on measurement point group data of a LiDAR sensor (101). The SLAM device recognizes a feature object in an image shown in image data of a camera (102), and calculates the relative distance from the camera to the feature object. The SLAM device superimposes, on the generated map, a three-dimensional point group shown in second three-dimensional point group data based on the image data, calculates the comparative distance to the feature object from a position estimated in the map, and interpolates for the SLAM by using the second three-dimensional point group data when the difference between the comparative distance and the relative distance is a value outside an allowable range.
Inventors:
Masashi Fukunaga
Application Number:
JP2023569752A
Publication Date:
January 12, 2024
Filing Date:
January 24, 2022
Export Citation:
Assignee:
Mitsubishi Electric Corporation
International Classes:
G01S17/86; G01S7/495; G01S17/89
Domestic Patent References:
| JP2021135580A | ||||
| JP2019028861A | ||||
| JP2019207220A |
Foreign References:
| CN112785643A |
Other References:
吉田 康太, 藤野 毅,「LiDAR-based SLAMにおける姿勢推定のためのICPアルゴリズムに対する敵対的スキャン生成攻撃」,電子情報通信学会技術研究報告,日本,一般社団法人電子情報通信学会,2020年07月13日,Vol.120, No.114,pages.81-86,ISSN 2432-6380
Attorney, Agent or Firm:
Patent Attorney Corporation Cross Border Patent Office