JPWO2019202806A1 - 自己位置推定方法 - Google Patents
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/24—Arrangements for determining position or orientation
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- G05—CONTROLLING; REGULATING
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- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
- G05D1/2435—Extracting 3D information
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/20—Control system inputs
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- G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
Description
前記複数のアルゴリズムのそれぞれ毎に、各アルゴリズムの推定処理により得られる一つ以上の状態量であって、各アルゴリズムにより推定された前記自己位置の確からしさに関連する状態量を学習済のニューラルネットワークに入力し、当該入力された状態量から該ニューラルネットワークにより前記複数のアルゴリズムのそれぞれ毎の重み係数を決定する第2ステップと、
前記複数のアルゴリズムのそれぞれにより推定された前記自己位置を、前記決定された重み係数により合成して得られる位置を、前記移動体の自己位置として特定する第3ステップとを備えることを特徴とする(第1発明)。
Claims (4)
- 複数のセンサの検出情報から、該複数のセンサのうちの一つ以上のセンサの検出情報を各々用いる複数のアルゴリズムのそれぞれにより、移動体の自己位置を推定する第1ステップと、
前記複数のアルゴリズムのそれぞれ毎に、各アルゴリズムの推定処理により得られる一つ以上の状態量であって、各アルゴリズムにより推定された前記自己位置の確からしさに関連する状態量を学習済のニューラルネットワークに入力し、当該入力された状態量から該ニューラルネットワークにより前記複数のアルゴリズムのそれぞれ毎の重み係数を決定する第2ステップと、
前記複数のアルゴリズムのそれぞれにより推定された前記自己位置を、前記決定された重み係数により合成して得られる位置を、前記移動体の自己位置として特定する第3ステップとを備えることを特徴とする移動体の自己位置推定方法。 - 請求項1記載の移動体の自己位置推定方法において、
前記複数のセンサは、前記移動体の外界を撮像するカメラを含み、
前記複数のアルゴリズムのうちの一つのアルゴリズムである第Aアルゴリズムは、前記移動体の自己位置の推定のために、前記カメラの撮像画像から特徴点を検出し、当該検出された特徴点と、該撮像画像よりも過去の撮像画像から検出された特徴点とのマッチングを行う処理を逐次実行するように構成されたアルゴリズムであり、
前記第Aアルゴリズムに係る前記状態量は、前記撮像画像から検出された特徴点の総数のうち、前記マッチングによる対応付けがなされた特徴点の個数の割合を示す状態量を含むことを特徴とする移動体の自己位置推定方法。 - 請求項1記載の移動体の自己位置推定方法において、
前記複数のセンサは、前記移動体の外界物までの距離を測定する測距センサを含み、
前記複数のアルゴリズムのうちの一つのアルゴリズムである第Bアルゴリズムは、前記測距センサによる測距データと、粒子フィルタとを用いて前記移動体の自己位置を推定するアルゴリズムであり、
前記第Bアルゴリズムに係る前記状態量は、該第Bアルゴリズムが前記移動体の自己位置を推定する過程で生成する共分散を含むことを特徴とする移動体の自己位置推定方法。 - 請求項1記載の移動体の自己位置推定方法において、
前記複数のセンサは、前記移動体に作用する磁気を検出する磁気センサを含み、
前記複数のアルゴリズムのうちの一つのアルゴリズムである第Cアルゴリズムは、前記磁気センサによる磁気の検出データと、粒子フィルタとを用いて前記移動体の自己位置を推定するアルゴリズムであり、
前記第Cアルゴリズムに係る前記状態量は、該第Cアルゴリズムが前記移動体の自己位置を推定する過程で生成する共分散を含むことを特徴とする移動体の自己位置推定方法。
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JP7365958B2 (ja) * | 2020-04-17 | 2023-10-20 | Kddi株式会社 | 測位システム、方法及びプログラム |
CN111735446B (zh) * | 2020-07-09 | 2020-11-13 | 上海思岚科技有限公司 | 一种激光、视觉定位融合的方法及设备 |
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