| CPC G06V 20/58 (2022.01) [B66F 9/063 (2013.01); G05D 1/0225 (2013.01); G06T 7/70 (2017.01); G06T 2207/30261 (2013.01)] | 8 Claims |
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1. A control method for a mobile object that automatically moves, the control method comprising:
causing a sensor disposed on the mobile object to detect a target object multiple times to acquire detection results of respective detection processes performed by the sensor as a point group;
estimating a position and an attitude of the target object for each detection process performed by the sensor based on the point group;
calculating reliability of accuracy in an estimation result of the position and the attitude of the target object for each detection process performed by the sensor;
selecting, from among estimation results of the respective detection processes performed by the sensor, an estimation result used for setting an approach path to a target position at which a predetermined position and attitude with respect to the target object are achieved, based on the reliability for each detection process performed by the sensor;
setting the approach path based on the selected estimation result; and
causing the mobile object to move along the approach path;
estimating the position and the attitude of the target object includes:
acquiring a plurality of straight lines connecting two points randomly selected from the acquired point group as a plurality of candidate for approximate line;
calculating a score integrated value that is an integrated value of scores determined by a vertical distance from each point of the point group for each of the plurality of candidate for approximate line;
selecting an approximate line from the plurality of candidate for approximate line based on the score integrated value; and
estimating the position and the attitude of the target object based on the selected approximate line;
wherein the reliability of accuracy is calculated based on the ratio between an ideal number of measurement points that are assumed to be obtained in one detection by the sensor and an actual number of measurement points obtained in one detection by the sensor.
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