Title:
Position estimation device, position estimation method and control program
Document Type and Number:
Japanese Patent JP6331114
Kind Code:
B2
Abstract:
A position estimation apparatus which estimates a position of a mobile object in a space includes: a measurement unit which measures, for each of points in a local space in proximity to the mobile object, a position and an attribute; an extractor which extracts position information and attribute information from a result of the measuring by the measurement unit, for each measurement voxel in a group of measurement voxels arrayed three-dimensionally in association with the local space; a map manager which manages position information and attribute information, for each map voxel in a group of map voxels arrayed three-dimensionally in association with the space represented by a map; and a position estimator which estimates a position of the mobile object, based on a position information approximation degree and an attribute information approximation degree.
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Inventors:
Tomohide Ishigami
Application Number:
JP2017533039A
Publication Date:
May 30, 2018
Filing Date:
August 24, 2016
Export Citation:
Assignee:
Panasonic IP Management Co., Ltd.
International Classes:
G01C21/20; G01B11/00
Domestic Patent References:
| JP2011191239A | ||||
| JP2013187862A | ||||
| JP2010134499A |
Foreign References:
| WO2007069726A1 |
Attorney, Agent or Firm:
Hiromori Arai
Eisaku Teratani
Shinichi Michisaka
Eisaku Teratani
Shinichi Michisaka