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SELF-POSITION ESTIMATION DEVICE, SELF-POSITION ESTIMATION METHOD, SELF-POSITION ESTIMATION PROGRAM, AND MOBILE OBJECT

外国特許コード F130007460
掲載日 2013年7月4日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2011JP006846
国際公開番号 WO 2012/176249
国際出願日 平成23年12月7日(2011.12.7)
国際公開日 平成24年12月27日(2012.12.27)
優先権データ
  • 特願2011-137623 (2011.6.21) JP
発明の名称 (英語) SELF-POSITION ESTIMATION DEVICE, SELF-POSITION ESTIMATION METHOD, SELF-POSITION ESTIMATION PROGRAM, AND MOBILE OBJECT
発明の概要(英語)

A coincidence degree calculation unit (12) calculates the degree of coincidence of both pieces of positional information when positional information acquired at a time (t) by a positional information acquisition unit (11) is subjected to parallel translation and rotational movement with respect to positional information acquired at a time (t-1). An estimation unit (13) estimates a self-position by changing the parallel translation amount (T) and rotational movement amount (R) of the positional information at the time (t) to search for the parallel translation amount (T) and rotational movement amount (R) at which the degree of coincidence becomes maximum. When some measurement point of the positional information at the time (t) is present within a distance (e) from some measurement point of the positional information at the time (t-1), the coincidence degree calculation unit (12) gives a predetermined point to the degree of coincidence.

  • 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
  • NATIONAL UNIVERSITY CORPORATION NARA INSTITUTE OFSCIENCE AND TECHNOLOGY,
  • HIEIDA, YUSUKE,
  • SUENAGA, TSUYOSHI,
  • TAKEMURA, KENTARO,
  • TAKAMATSU, JUN,
  • OGASAWARA, TSUKASA
  • 発明者(英語)
  • HIEIDA, YUSUKE,
  • SUENAGA, TSUYOSHI,
  • TAKEMURA, KENTARO,
  • TAKAMATSU, JUN,
  • OGASAWARA, TSUKASA
国際特許分類(IPC)
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