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1. WO2020066069 - POSITION ESTIMATION DEVICE

Publication Number WO/2020/066069
Publication Date 02.04.2020
International Application No. PCT/JP2019/010421
International Filing Date 13.03.2019
Chapter 2 Demand Filed 17.10.2019
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
G01B 11/00 2006.01
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
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
G01C 21/28 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
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
B60W 30/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
06Automatic manoeuvring for parking
B60R 99/00 2009.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
99Subject matter not provided for in other groups of this subclass
CPC
B60R 99/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
99Subject matter not provided for in other groups of this subclass
B60W 30/06
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
06Automatic manoeuvring for parking
G01B 11/00
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
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 21/28
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
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
Applicants
  • クラリオン株式会社 CLARION CO., LTD. [JP]/[JP]
Inventors
  • 酒井 貴大 SAKAI, Takahiro
  • 坂野 盛彦 SAKANO, Morihiko
  • 福田 大輔 FUKUDA, Daisuke
  • 村山 純哉 MURAYAMA, Junya
Agents
  • 特許業務法人サンネクスト国際特許事務所 SUNNEXT INTERNATIONAL PATENT OFFICE
Priority Data
2018-18091326.09.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) POSITION ESTIMATION DEVICE
(FR) DISPOSITIF D'ESTIMATION DE POSITION
(JA) 位置推定装置
Abstract
(EN)
This position estimation device includes: an image information calculation unit which extracts image feature points from a plurality of respective images that are sequentially captured, and associates the image feature points with each other; a movement amount calculation unit which estimates the position of a moving body; a three-dimensional image feature point calculation unit which estimates a three-dimensional position of the image feature point in an actual space on the basis of the association result of the image feature points and the position of the moving body; a position correction unit which corrects the three-dimensional position and the position of the moving body so that a positional error is reduced between the image feature point and a position on any one among the plurality of images when the three-dimensional position is re-projected onto the one image; and a path regeneration determination unit which determines whether to regenerate a path on the basis of a result of comparing the corrected position of the moving body with the path.
(FR)
La présente invention concerne un dispositif d'estimation de position comprenant : une unité de calcul d'informations d'image qui extrait des points caractéristiques d'image d'une pluralité d'images respectives qui sont capturées séquentiellement, et associe les points caractéristiques d'image les uns aux autres ; une unité de calcul de degré de déplacement qui estime la position d'un corps mobile ; une unité de calcul de point caractéristique d'image tridimensionnelle qui estime une position tridimensionnelle du point caractéristique d'image dans un espace réel sur la base du résultat d'association des points caractéristiques d'image et de la position du corps mobile ; une unité de correction de position qui corrige la position tridimensionnelle et la position du corps mobile de telle sorte qu'une erreur de position soit réduite entre le point caractéristique d'image et une position sur une image quelconque parmi la pluralité d'images lorsque la position tridimensionnelle est re-projetée sur l'image ; et une unité de détermination de régénération de trajet qui détermine s'il faut ou non régénérer un trajet sur la base d'un résultat de comparaison de la position corrigée du corps mobile avec le trajet.
(JA)
位置推定装置は、順次撮像された複数の画像から画像特徴点をそれぞれ抽出し、前記画像特徴点同士を対応付ける画像情報計算部と、移動体の位置を推定する移動量計算部と、前記画像特徴点同士の対応付け結果と前記移動体の位置に基づいて前記画像特徴点の実空間上の3次元位置を推定する3次元画像特徴点計算部と、前記3次元位置を前記複数の画像のいずれかに再投影したときの当該画像上での位置と画像特徴点との間の位置誤差が低減するように、前記3次元位置および前記移動体の位置を補正する位置補正部と、補正された前記移動体の位置と前記経路との比較の結果に基づいて前記経路を再生成するか否かを判定する経路再生成判定部と、を備える。
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