US 12,404,157 B2
Position estimation system, forklift, position estimation method, and program
Katsumasa Kitajima, Tokyo (JP); Yusuke Kinouchi, Tokyo (JP); Masahiro Yamada, Tokyo (JP); Takumi Fujita, Tokyo (JP); and Takuya Akashi, Nagaokakyo (JP)
Assigned to MITSUBISHI LOGISNEXT CO., LTD., Nagaokakyo (JP)
Filed by Mitsubishi Logisnext Co., Ltd., Nagaokakyo (JP)
Filed on Oct. 16, 2023, as Appl. No. 18/380,504.
Claims priority of application No. 2022-168577 (JP), filed on Oct. 20, 2022.
Prior Publication US 2024/0132332 A1, Apr. 25, 2024
Prior Publication US 2024/0228247 A9, Jul. 11, 2024
Int. Cl. B66F 9/075 (2006.01); G06T 7/60 (2017.01)
CPC B66F 9/0755 (2013.01) [G06T 7/60 (2013.01); G06T 2207/30252 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A position estimation system for estimating a position of a forklift equipped with a camera, the position estimation system comprising:
a position estimation unit configured to estimate a position of the forklift on the basis of a feature included in an image captured by the camera; and
an inclusion determination unit configured to calculate, on the basis of a position in a height direction of a mast with which the forklift is equipped, an inclusion range indicating a range in which the mast is in the image and determine to stop estimation of the position by using the position estimation unit when the inclusion range calculated exceeds an allowable range.