US 12,352,859 B2
Position management device, position management system, position management method and non-transitory computer-readable medium having program stored thereon
Akira Tsuji, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 17/606,803
Filed by NEC Corporation, Tokyo (JP)
PCT Filed May 9, 2019, PCT No. PCT/JP2019/018474
§ 371(c)(1), (2) Date Oct. 27, 2021,
PCT Pub. No. WO2020/225894, PCT Pub. Date Nov. 12, 2020.
Prior Publication US 2022/0187455 A1, Jun. 16, 2022
Int. Cl. G01S 17/08 (2006.01); G01S 17/00 (2020.01); G01S 17/89 (2020.01)
CPC G01S 17/08 (2013.01) [G01S 17/006 (2013.01); G01S 17/89 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A position management device comprising:
a sensor configured to measure distances of a plurality of parts of a moving object in each unit time and acquire point cloud data indicating coordinates on a space of the plurality of parts in each unit time;
at least one memory storing instructions; and
at least one processor configured to execute the instructions stored in the memory to:
select a pair of the coordinates between first point cloud data which is the point cloud data acquired at a first point of time and second point cloud data which is the point cloud data acquired at a second point of time the unit time before the first point of time; and
estimate a position of the moving object by making both coordinates of the selected pair correspond to each other and performing positioning processing of the first point cloud data and the second point cloud data,
wherein the processor is configured to execute the instructions to select the pair of the coordinates by pairing a first point belonging to the first point cloud data and a second point belonging to the second point cloud data in a case where a difference between a direction viewed from the sensor of the first point and a direction viewed from the sensor of the second point is equal to or smaller than a predetermined first threshold.