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MAP GENERATION DEVICE, MAP GENERATION METHOD, METHOD FOR MOVING MOBILE BODY, AND ROBOT DEVICE

外国特許コード F120006995
整理番号 S2010-1184-C0
掲載日 2012年10月29日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2011JP004840
国際公開番号 WO 2012/035707
国際出願日 平成23年8月30日(2011.8.30)
国際公開日 平成24年3月22日(2012.3.22)
優先権データ
  • 特願2010-209657 (2010.9.17) JP
発明の名称 (英語) MAP GENERATION DEVICE, MAP GENERATION METHOD, METHOD FOR MOVING MOBILE BODY, AND ROBOT DEVICE
発明の概要(英語)

In order to construct a map in a crowded environment where many people are present, provided are: a continuous image obtaining unit (11) for obtaining continuous images taken continuously while a robot moves

a local feature amount extractor (12) for extracting local feature amounts in feature points from the continuous images

a feature amount matching unit (13) for finding matches among continuous input images for the local feature amounts extracted by the local feature amount extractor (12)

an invariant feature amount calculator (14) for determining, as invariant feature amounts, the average of the local feature amounts found by the matching among a predetermined number of continuous images by the feature amount matching unit (13)

a distance information obtaining unit (15) for calculating distance information corresponding to each of the invariant feature amounts on the basis of the position of the robot at each point in time when the continuous images were obtained

and a map generator (16) for generating a local metrical map as a hybrid map having the invariant feature amounts and the distance information.

  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • TOKYO INSTITUTE OF TECHNOLOGY,
  • HASEGAWA, OSAMU,
  • MORIOKA, HIROSHI,
  • TONGPRASIT, NOPPHARIT,
  • YI, SANGKYU
  • 発明者(英語)
  • HASEGAWA, OSAMU,
  • MORIOKA, HIROSHI,
  • TONGPRASIT, NOPPHARIT,
  • YI, SANGKYU
国際特許分類(IPC)
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