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1. WO2019202806 - SELF-LOCATION ESTIMATION METHOD

Publication Number WO/2019/202806
Publication Date 24.10.2019
International Application No. PCT/JP2019/002705
International Filing Date 28.01.2019
IPC
G05D 1/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
G01C 15/002
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
002Active optical surveying means
G01C 21/08
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
04by terrestrial means
08involving use of the magnetic field of the earth
G01C 22/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
22Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G05D 1/0221
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0212with means for defining a desired trajectory
0221involving a learning process
G05D 1/0251
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
0251extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
Applicants
  • 本田技研工業株式会社 HONDA MOTOR CO., LTD. [JP]/[JP]
Inventors
  • 長谷川 雄二 HASEGAWA, Yuji
  • 松▲崎▼ 燦心 MATSUZAKI, Sango
Agents
  • 特許業務法人創成国際特許事務所 SATO & ASSOCIATES
Priority Data
2018-08174220.04.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) SELF-LOCATION ESTIMATION METHOD
(FR) PROCÉDÉ D’ESTIMATION D’AUTO-LOCALISATION
(JA) 自己位置推定方法
Abstract
(EN)
This self-location estimation method comprises: a first step for using a plurality of algorithms (11-13) to estimate the self-location of a moving body 1 from detection information from a plurality of sensors 5-8; a second step for using a trained neural network (14) to determine, from one or more of state quantities A, B, and C obtained for each of the plurality of algorithms by an estimation process of each algorithm, a weighting factor for each algorithm; and a third step for designating, as the self-location of the moving body 1, a location obtained by using the weighting factors to combine self-locations estimated by each algorithm.
(FR)
Procédé d’estimation d’auto-localisation comprenant : une première étape consiste à utiliser une pluralité d’algorithmes (11-13) pour estimer l’auto-localisation d’un corps en déplacement 1 à partir d’une information de détection d’une pluralité de capteurs 5-8 ; une deuxième étape consistant à utiliser un réseau neuronal entraîné (14) pour déterminer, à partir d’au moins une quantité d’états A, B et C obtenus pour chacun de la pluralité d’algorithmes par un procédé d’estimation de chaque algorithme, un facteur de pondération de chaque algorithme ; et une troisième étape consistant à désigner, en tant qu’auto-localisation du corps en déplacement 1, une position obtenue en utilisant les facteurs de pondération pour associer les auto-estimations estimées par chaque algorithme.
(JA)
自己位置推定方法は、複数のセンサ5~8の検出情報から複数のアルゴリズム(11~13)により移動体1の自己位置を推定する第1ステップと、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A,B,Cから、学習済のニューラルネットワーク(14)により各アルゴリズム毎の重み係数を決定する第2ステップと、各アルゴリズムにより推定された自己位置を重み係数により合成して得られる位置を移動体1の自己位置として特定する第3ステップとを備える。
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