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1. WO2017168472 - POSITION ESTIMATION DEVICE, POSITION ESTIMATION METHOD, AND CONTROL PROGRAM

Publication Number WO/2017/168472
Publication Date 05.10.2017
International Application No. PCT/JP2016/003850
International Filing Date 24.08.2016
IPC
G01C 21/20 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
20Instruments for performing navigational calculations
G01C 15/00 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
15Surveying instruments or accessories not provided for in groups G01C1/-G01C13/116
G06T 7/20 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
20Analysis of motion
G06T 7/60 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
60Analysis of geometric attributes
CPC
G01C 15/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
15Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
G01C 21/20
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
20Instruments for performing navigational calculations
G06T 15/08
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
153D [Three Dimensional] image rendering
08Volume rendering
G06T 2207/10024
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10024Color image
G06T 2207/10028
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10028Range image; Depth image; 3D point clouds
G06T 2207/20048
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
20Special algorithmic details
20048Transform domain processing
Applicants
  • パナソニックIPマネジメント株式会社 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. [JP]/[JP]
Inventors
  • 石上 智英 ISHIGAMI, Tomohide
Agents
  • 鎌田 健司 KAMATA, Kenji
  • 前田 浩夫 MAEDA, Hiroo
Priority Data
2016-06970630.03.2016JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) POSITION ESTIMATION DEVICE, POSITION ESTIMATION METHOD, AND CONTROL PROGRAM
(FR) DISPOSITIF D'ESTIMATION DE POSITION, PROCÉDÉ D'ESTIMATION DE POSITION, ET PROGRAMME DE COMMANDE
(JA) 位置推定装置、位置推定方法及び制御プログラム
Abstract
(EN)
A position estimation device (100) which estimates the position of a moving body in a space, is provided with: a measurement unit (110) which measures respective positions and colors of a plurality of points in a local space surrounding the moving body; an extraction unit (120) that extracts, from the result of measurement by the measurement unit (110), positional information and color information for each voxel among voxels which are three-dimensionally arranged in association with the local space; a map management unit (130) that manages positional information and color information for each voxel among voxels which are three-dimensionally arranged in association with a space expressed by a map; and a position estimation unit (140) that estimates the position of the moving body according to the positional information and color information extracted by the extraction unit (120), on the basis of the positional information and color information managed by the map management unit (130).
(FR)
L'invention concerne un dispositif d'estimation de position (100) qui estime la position d'un corps mobile dans un espace, qui comprend : une unité de mesure (110) qui mesure des positions et des couleurs respectives d'une pluralité de points dans un espace local entourant le corps mobile ; une unité d'extraction (120) qui extrait, à partir du résultat de mesure par l'unité de mesure (110), des informations de position et des informations de couleur pour chaque voxel parmi des voxels qui sont agencés en trois dimensions en association avec l'espace local ; une unité de gestion de carte (130) qui gère des informations de position et des informations de couleur pour chaque voxel parmi des voxels qui sont agencés en trois dimensions en association avec un espace exprimé par une carte ; et une unité d'estimation de position (140) qui estime la position du corps mobile en fonction des informations de position et des informations de couleur extraites par l'unité d'extraction (120), sur la base des informations de position et des informations de couleur gérées par l'unité de gestion de carte (130).
(JA)
空間における移動体の位置を推定する位置推定装置(100)は、移動体の周囲の局所空間における複数の点各々についての、位置と、色とを、測定する測定部(110)と、測定部(110)による測定結果から、局所空間と対応付けて3次元状に配列したボクセル群における各ボクセルについての位置情報及び色情報を抽出する抽出部(120)と、地図で表される空間と対応付けて3次元状に配列したボクセル群における各ボクセルについての位置情報及び色情報を管理する地図管理部(130)と、地図管理部(130)が管理する位置情報及び色情報に基づき、抽出部(120)が抽出した位置情報及び色情報に応じて、移動体の位置を推定する位置推定部(140)とを備える。
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