JPWO2021181686A1 - - Google Patents

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Publication number
JPWO2021181686A1
JPWO2021181686A1 JP2022505711A JP2022505711A JPWO2021181686A1 JP WO2021181686 A1 JPWO2021181686 A1 JP WO2021181686A1 JP 2022505711 A JP2022505711 A JP 2022505711A JP 2022505711 A JP2022505711 A JP 2022505711A JP WO2021181686 A1 JPWO2021181686 A1 JP WO2021181686A1
Authority
JP
Japan
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2022505711A
Other versions
JP7199772B2 (ja
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Publication of JPWO2021181686A1 publication Critical patent/JPWO2021181686A1/ja
Application granted granted Critical
Publication of JP7199772B2 publication Critical patent/JP7199772B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • 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
    • G05D1/0248—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 in combination with a laser
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2022505711A 2020-03-13 2020-03-13 自己位置推定装置 Active JP7199772B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/011218 WO2021181686A1 (ja) 2020-03-13 2020-03-13 自己位置推定装置

Publications (2)

Publication Number Publication Date
JPWO2021181686A1 true JPWO2021181686A1 (ja) 2021-09-16
JP7199772B2 JP7199772B2 (ja) 2023-01-06

Family

ID=77670960

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022505711A Active JP7199772B2 (ja) 2020-03-13 2020-03-13 自己位置推定装置

Country Status (5)

Country Link
US (1) US20230110609A1 (ja)
EP (1) EP4120039A4 (ja)
JP (1) JP7199772B2 (ja)
CN (1) CN115210668A (ja)
WO (1) WO2021181686A1 (ja)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004280138A (ja) * 2003-03-12 2004-10-07 Nissan Motor Co Ltd 道路形状認識装置
JP2015144013A (ja) * 2015-03-31 2015-08-06 株式会社日立製作所 ロボットシステム及び地図更新方法
JP2017117386A (ja) * 2015-12-25 2017-06-29 学校法人千葉工業大学 自己運動推定システム、自己運動推定システムの制御方法及びプログラム
JP2020021257A (ja) * 2018-07-31 2020-02-06 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6528641B2 (ja) 2015-10-26 2019-06-12 トヨタ自動車株式会社 自己位置推定方法
CN108732584B (zh) * 2017-04-17 2020-06-30 百度在线网络技术（北京）有限公司 用于更新地图的方法和装置
US11821987B2 (en) * 2017-09-13 2023-11-21 Velodyne Lidar Usa, Inc. Multiple resolution, simultaneous localization and mapping based on 3-D LIDAR measurements

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004280138A (ja) * 2003-03-12 2004-10-07 Nissan Motor Co Ltd 道路形状認識装置
JP2015144013A (ja) * 2015-03-31 2015-08-06 株式会社日立製作所 ロボットシステム及び地図更新方法
JP2017117386A (ja) * 2015-12-25 2017-06-29 学校法人千葉工業大学 自己運動推定システム、自己運動推定システムの制御方法及びプログラム
JP2020021257A (ja) * 2018-07-31 2020-02-06 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム

Also Published As

Publication number Publication date
EP4120039A1 (en) 2023-01-18
EP4120039A4 (en) 2023-11-29
WO2021181686A1 (ja) 2021-09-16
CN115210668A (zh) 2022-10-18
JP7199772B2 (ja) 2023-01-06
US20230110609A1 (en) 2023-04-13

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