US 12,242,278 B2
Localization system, localization method, storage medium, and map generation device
Nobuyuki Matsuno, Tokyo (JP); Fukukazu Kawata, Nagoya (JP); and Kazuhito Tanaka, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 6, 2022, as Appl. No. 18/075,896.
Claims priority of application No. 2021-201874 (JP), filed on Dec. 13, 2021.
Prior Publication US 2023/0185310 A1, Jun. 15, 2023
Int. Cl. G05D 1/00 (2024.01); G06T 7/579 (2017.01)
CPC G05D 1/0274 (2013.01) [G05D 1/0246 (2013.01); G06T 7/579 (2017.01)] 12 Claims
OG exemplary drawing
 
1. A localization system comprising:
a central processing unit that:
acquires map data for map creation in a plurality of different time periods;
creates maps based on the map data acquired, and combines the created maps to create a plurality of synthetic map candidates;
calculates a performance value of each of the synthetic map candidates created;
selects one synthetic map candidate from among the plurality of synthetic map candidates based on the performance value of the synthetic map candidate calculated; and
performs localization of a mobile body based on the synthetic map candidate selected, wherein:
the central processing unit calculates a self-location tracking rate during movement of the mobile body, as the performance value of each of the map candidates,
the mobile body comprises an autonomous mobile robot that is caused to autonomously travel in accordance with a self-location of the mobile body, and
the central processing unit is configured to gradually increase the number of map combinations starting from 2 (N=2), and when an average value of the tracking rates of the synthetic map candidates reaches a predetermined value, the central processing unit is configured to output the reached synthetic map candidate.