MAP GENERATING DEVICE, MAP GENERATION METHOD, MOVEMENT METHOD OF MOBILE, AND ROBOT DEVICE

摘要

PROBLEM TO BE SOLVED: To perform map production under a congestive circumstance where a large number of people exist.

SOLUTION: A map generating device includes: a continuous image acquisition part 11 for acquiring continuous images sequentially photographed while a robot moves; a local feature amount extraction part 12 for extracting a local feature amount in each feature point from the continuous images; a feature amount matching part 13 for matching among the continuous input images for the local feature amount extracted by the local feature amount extraction part 12; an invariable feature amount calculation part 14 for obtaining the average of local feature amounts matched among a prescribed number of continuous images by the feature amount matching part 13, as an invariable feature amount; a distance information acquisition part 15 for calculating distance information corresponding to each invariable feature amount based on the position of the robot at each time when the continuous images are acquired; and a map generation part 16 for generating a local metrical map as a hybrid map having the invariable feature amount and the distance information.

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