US 12,265,396 B2
Information processing device and mobile robot
Masahiro Tomono, Chiba (JP)
Assigned to CHIBA INSTITUTE OF TECHNOLOGY, Chiba (JP)
Appl. No. 17/435,250
Filed by Chiba institute of technology, Chiba (JP)
PCT Filed Mar. 13, 2019, PCT No. PCT/JP2019/010328
§ 371(c)(1), (2) Date Aug. 31, 2021,
PCT Pub. No. WO2020/183659, PCT Pub. Date Sep. 17, 2020.
Prior Publication US 2022/0137638 A1, May 5, 2022
Int. Cl. G05D 1/00 (2024.01); G01S 17/08 (2006.01); G01S 17/89 (2020.01); G06T 7/579 (2017.01)
CPC G05D 1/0274 (2013.01) [G01S 17/08 (2013.01); G01S 17/89 (2013.01); G05D 1/0248 (2013.01); G05D 1/0272 (2013.01); G06T 7/579 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01)] 9 Claims
OG exemplary drawing
 
1. An information processing device for estimating a self-position of a mobile body based on a map of environment where the mobile body travels, the mobile body including a driver and a wheel to be rotatably driven by the driver, the information processing device comprising:
a detection section configured to detect, as detection information, a distance to an object at a periphery of the mobile body and a direction of the object; and
a control section configured to control the detection section,
wherein the control section includes
a storage configured to store the detection information, which has been detected by the detection section, in chronological order and store a map,
a map producer configured to produce a map of the periphery of the mobile body based on the detection information stored in the storage and store the map in the storage,
an existing map self-position estimator configured to estimate a current self-position of the mobile body by matching an existing map previously produced and stored in the storage with the detection information,
a current map self-position estimator configured to estimate a current self-position of the mobile body by matching a current map being currently produced and stored in the storage with the detection information,
a reliability evaluator configured to evaluate a reliability of each self-position estimated by the existing map self-position estimator and the current map self-position estimator, wherein the evaluated reliability of the existing map self-position is lowered in case where there is an environmental change related to the object at the periphery of the mobile body, and wherein the evaluated reliability of the current map self-position is lowered in case where the detection information is erroneous,
a self-position updater configured to update at least one self-position whose reliability evaluated by the reliability evaluator is lower than the other, and
the control section is further configured to control the driver and the wheel based on the at least one self-position updated.