发明名称 |
Position Estimation Apparatus, Position Estimation Method and Program Recording Medium |
摘要 |
The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.
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申请公布号 |
US2007265741(A1) |
申请公布日期 |
2007.11.15 |
申请号 |
US20070745947 |
申请日期 |
2007.05.08 |
申请人 |
OI KENICHIRO;FUJITA MASAHIRO;YOSHIGAHARA TAKAYUKI;GUTMANN STEFFEN;FUKUCHI MASAKI |
发明人 |
OI KENICHIRO;FUJITA MASAHIRO;YOSHIGAHARA TAKAYUKI;GUTMANN STEFFEN;FUKUCHI MASAKI |
分类号 |
G06F17/10 |
主分类号 |
G06F17/10 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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