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

Foreign code F120006995
File No. S2010-1184-C0
Posted date Oct 29, 2012
Country WIPO
International application number 2011JP004840
International publication number WO 2012/035707
Date of international filing Aug 30, 2011
Date of international publication Mar 22, 2012
Priority data
  • P2010-209657 (Sep 17, 2010) JP
Title MAP GENERATION DEVICE, MAP GENERATION METHOD, METHOD FOR MOVING MOBILE BODY, AND ROBOT DEVICE
Abstract

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.

  • Applicant
  • ※All designated countries except for US in the data before July 2012
  • TOKYO INSTITUTE OF TECHNOLOGY,
  • HASEGAWA, OSAMU,
  • MORIOKA, HIROSHI,
  • TONGPRASIT, NOPPHARIT,
  • YI, SANGKYU
  • Inventor
  • HASEGAWA, OSAMU,
  • MORIOKA, HIROSHI,
  • TONGPRASIT, NOPPHARIT,
  • YI, SANGKYU
IPC(International Patent Classification)
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