Information processing device, control method, program product and storage medium

By calculating the number of measured points (DAR) associated with point cloud data and unit area as a reliability indicator for position estimation, the problem that maximizing score values ​​in the prior art may lead to insufficient reliability under local solutions and occlusions is solved. Accurate position estimation and acquisition of optimal solutions within a predetermined time are realized.

CN114867989BActive Publication Date: 2024-12-27PIONEER IP
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Patent Information

Application Number
CN202080083793.1
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Priority Date
2019-12-04
Filing Date
2020-12-03
Publication Date
2024-12-27
Estimated Expiration
2040-12-03

AI Technical Summary

Technical Problem

When the prior art performs position estimation of the vehicle by matching voxel data and point cloud data, maximization of the score value may lead to a local solution and cannot be completed within a predetermined processing time, and the score value is not sufficient to represent the estimate under occlusion. Reliability of location.

Method used

By obtaining point cloud data to match the object position information in the unit area divided by space, the ratio (DAR) of the number of measured points associated with the unit area to the total number of measured points is calculated as a reliability indicator for position estimation, and based on reliability Sexual metrics determine whether to re-execute position estimates and adjust search ranges.

Benefits of technology

It realizes the accuracy of the estimated position accuracy index within a predetermined time, avoids local solutions, and appropriately adjusts the search range in the case of occlusion to obtain the optimal solution.

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Abstract

A control unit (15) of an on-board machine (1) acquires point group data output by a laser radar (2). Then, the control unit (15) compares the acquired point group data with voxel data VD which is position information of an object in each unit area (voxel) into which a space is divided, thereby associating measurement points constituting the point group data with the voxels respectively. The control unit (15) performs position estimation of a moving body provided with the laser radar (2) based on the measurement points associated with any voxel in which the voxel data VD exists and the position information of the object in the unit area. The control unit (15) calculates a reliability index of the position acquired by the position estimation using DAR, which is a ratio of the number of measurement points associated with any voxel to the number of measurement points constituting the point group data.
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Citation Information

Patent Citations

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