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1. (WO2019044500) LOCATION ESTIMATION SYSTEM AND MOBILE BODY COMPRISING LOCATION ESTIMATION SYSTEM
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Pub. No.: WO/2019/044500 International Application No.: PCT/JP2018/030308
Publication Date: 07.03.2019 International Filing Date: 14.08.2018
IPC:
G05D 1/02 (2006.01) ,G01S 17/89 (2006.01) ,G01S 17/93 (2006.01) ,G09B 29/10 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02
Control of position or course in two dimensions
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88
Lidar systems, specially adapted for specific applications
89
for mapping or imaging
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88
Lidar systems, specially adapted for specific applications
93
for anti-collision purposes
G PHYSICS
09
EDUCATING; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
B
EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
29
Maps; Plans; Charts; Diagrams, e.g. route diagrams
10
Map spot or co-ordinate position indicators; Map-reading aids
Applicants:
日本電産株式会社 NIDEC CORPORATION [JP/JP]; 京都府京都市南区久世殿城町338番地 338 Kuzetonoshiro-cho, Minami-ku, Kyoto-shi, Kyoto 6018205, JP
Inventors:
鈴木 慎治 SUZUKI Shinji; JP
佐伯 哲夫 SAEKI Tetsuo; JP
中谷 政次 NAKATANI Masaji; JP
Agent:
奥田 誠司 OKUDA Seiji; JP
Priority Data:
2017-16972804.09.2017JP
Title (EN) LOCATION ESTIMATION SYSTEM AND MOBILE BODY COMPRISING LOCATION ESTIMATION SYSTEM
(FR) SYSTÈME D'ESTIMATION DE POSITION ET CORPS MOBILE COMPRENANT LEDIT SYSTÈME
(JA) 位置推定システム、および当該位置推定システムを備える移動体
Abstract:
(EN) This location estimation system 115 comprises: a processor 106; and memory 107 that stores a computer program that makes the processor 106 operate. The processor 106: acquires scan data from an external sensor 102 and creates a reference map from the scan data; performs matching between newly acquired latest scan data and the reference map and thereby estimates a location and a posture on the reference map and updates the reference map by adding the latest scan data to the reference map; resets the reference map by deleting, from the reference map after multiple updates, everything but one portion that includes the latest scan data; and updates an environment map on the basis of the pre-resetting reference map.
(FR) La présente invention concerne un système d'estimation de position (115) comprenant : un processeur (106); et une mémoire (107) qui stocke un programme d'ordinateur qui fait fonctionner le processeur (106). Le processeur (106) : acquiert des données de balayage à partir d'un capteur externe (102) et crée une carte de référence à partir des données de balayage; effectue une mise en correspondance entre les données de balayage les plus récentes nouvellement acquises et la carte de référence, et estime ainsi une position et une orientation sur la carte de référence, puis met à jour la carte de référence en ajoutant les données de balayage les plus récentes à la carte de référence; réinitialise la carte de référence en supprimant de la carte de référence, après de multiples mises à jour, tout à l'exception d'une partie qui comprend les données de balayage les plus récentes; et met à jour une carte d'environnement sur la base de la carte de référence de pré-réinitialisation.
(JA) 本開示の位置推定システム115は、プロセッサ106と、プロセッサ106を動作させるコンピュータプログラムを記憶するメモリ107とを備える。プロセッサ106は、外界センサ102からスキャンデータを取得してスキャンデータから参照地図を作成すること、新たに取得した最新スキャンデータと参照地図とのマッチングを行うことにより、参照地図上における位置および姿勢を推定し、最新スキャンデータを参照地図に追加して前記参照地図を更新すること、複数回更新された参照地図から、最新スキャンデータを含む一部分以外の部分を削除して参照地図のリセットを行うこと、および、リセット前の参照地図に基づいて環境地図を更新することを実行する。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)