| 摘要 |
PROBLEM TO BE SOLVED: To estimate a location of a moving body in an environment correctly so as to have a robot to which the moving body is applicable correctly provide a prescribed service corresponding to the location.SOLUTION: The tracking system 10 includes a moving body 12 which moves in an environment. At that time, distance data is detected with distance sensors 22a, 22 disposed in the moving body and rotation frequency data of wheels 16a, 16b of the moving body is also detected. The computer (30) calculates a location and direction of the moving body on the basis of the rotation frequency data, and converts the detected distance data into a location data of a point whose distance is measured. The location data is clustered according to a prescribed rule, and it is determined whether each cluster corresponds to a static object or a dynamic object, on the basis of a feature quantity of the cluster. Therefore, the location of the moving body is estimated with the use of the distance data corresponding to the location data contained in a cluster which is determined to be a static object. |
