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    • 20. 发明申请
    • Autonomous Mobile System
    • 自主移动系统
    • US20140309841A1
    • 2014-10-16
    • US14359335
    • 2011-11-22
    • Yoshitaka HaraAkira OshimaRyoko IchinoseKenjiro Yamamoto
    • Yoshitaka HaraAkira OshimaRyoko IchinoseKenjiro Yamamoto
    • G01C21/28G05D1/02
    • G01C21/28G01C21/30G01C21/32G01S7/4808G01S17/89G05D1/024G05D1/0248G05D1/0251G05D1/0274G05D2201/0213
    • The invention includes a shape detector and travel distance detector for measuring whether objects are present in set regions determined by dividing a three-dimensional space into a plurality of segments, a storage device into which map data is stored that indicates a region of the set regions that has been set as having a stationary object in the region, a determining section that determines, from frequency of the object detection by the shape detector during a predetermined time for each of the set regions, whether the object that has been detected in each set region is a stationary object or a moving object, and a localizer that localizes a vehicle “v” by matching the region that the determining section has determined to have a stationary object in the region, and the map data. Thus, highly accurate detection of positions can be realized, even in an environment with moving objects.
    • 本发明包括一种形状检测器和行进距离检测器,用于测量通过将三维空间划分成多个段确定的设定区域中的物体是否存在;存储设备,其中存储有指示设定区域的区域的地图数据 在该区域中被设定为具有静止物体的判定部,根据由所述形状检测器在每个所述设定区域的规定时间内的物体检测的频率,判断各组中是否检测到的物体 区域是固定物体或运动物体,以及通过使确定部分已经确定为具有该区域中的静止物体的区域来匹配车辆“v”的定位器和地图数据。 因此,即使在具有移动物体的环境中也能够高精度地检测位置。