ROBOT SELF−POSITION IDENTIFICATION SYSTEM AND SELF−POSITION IDENTIFICATION METHOD

WIPO Patent Application WO/2003/046478

A1

A self−position identification system uses a large−region search apparatus based on the grid−based Markov localization and a local search apparatus using extended Kalman filter. If an observation result in the large−region search apparatus is adequate, update of the observation result of the local search apparatus is permitted. However, if not adequate, no update is performed for the observation result of the local search apparatus. Moreover, if the observation result of the local search apparatus is adequate, the state of the local search is output. However, if not adequate, the local search apparatus is re−initialized. Consequently, in the environment including an artificial landmark, the self−position of a robot can be identified according to the sensor information of the robot and the information on the operation performed by the robot.

FUKUCHI MASAKI (JP)
GUTMANN STEFFEN (JP)

PCT/JP2002/012367

June 05, 2003

November 27, 2002

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SONY CORP (JP)
FUKUCHI MASAKI (JP)
GUTMANN STEFFEN (JP)

G01C15/00; B25J9/10; B25J19/02; G01B11/00; G05D1/02; G06K9/00; (IPC1-7): G01C15/00; G05D1/02; B25J9/10; B25J19/02

JPH07182301A	1995-07-21
JPH06201813A	1994-07-22

MOON ET AL.: "On-line selection of stable visual landmarks under uncertainty", PROC. 1999 IEEE/RSJ INT. CONF. ON INTELLIGENT ROBOTS AND SYSTEMS, 1999, pages 781 - 786, XP010362438
FOX ET AL.: "Markov localization for mobile robots in dynamic environments", JOURNAL OF ARTIFICIAL INTELLIGENCE RESEARCH, vol. 11, 1999, pages 391 - 427, XP002965244
See also references of EP 1450129A4

Yamada, Eiji (Miyata & Yamada Patent Office Ginza TK Bldg. 1-, Shintomi 1-chome Chuo-ku Tokyo, JP)

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