Layout-Constrained SLAM Mapping for Moving Objects
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Solution Overview
Problem
Existing information processing devices struggle to accurately generate map information in a space when the arrangement of objects changes from their initial configuration, leading to poor accuracy in map representation.
Innovation Solution
An information processing device that includes a storage unit for layout constraint condition information and a control unit capable of estimating object positions and generating map information using graph-simultaneous localization and mapping (SLAM) based on object-device relative position information, layout constraint conditions, and object postures, even when the object arrangement changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If map information is generated based on initial object arrangement, then map generation is simple, but map accuracy deteriorates when object arrangement changes
Solution Approach 1:
The system pre-stores layout constraint condition information representing the initial arrangement of objects in the space before any changes occur. This preliminary data is then used in conjunction with detection unit outputs to accurately reconstruct the current map even when objects have moved, thereby maintaining map accuracy without complicating the generation process.
Solution Approach 2:
The detection unit continuously monitors the current positions of objects and provides feedback to the control unit. The control unit compares this real-time detection information against the pre-stored layout constraint condition information, then generates updated map information that reflects both the initial arrangement and current object positions, resolving the contradiction between simplicity and accuracy.
2Measurement precision
If layout constraint condition information is stored and processed, then map accuracy is improved, but device complexity increases
Solution Approach 1:
The system divides the mapping problem into two independent components: pre-stored layout constraint condition information representing initial arrangements, and real-time detection unit outputs representing current object positions. The control unit processes these segmented information sources separately and combines them, improving map accuracy without requiring a complete redesign of the entire system architecture.
Solution Approach 2:
The control unit acts as an intermediary that receives both the pre-stored layout constraint condition information and the detection unit outputs, then synthesizes this information to generate accurate map information. This intermediary approach allows the system to maintain accuracy while keeping individual components relatively simple.
Data Source
AI summary
An information processing device for controlling a control target device to be controlled includes: a storage unit configured to store layout constraint condition information including information indicating relative positions of a first object disposed in a space in which the control target device is positioned and a second object different from the first object disposed in the space; and a control unit configured to generate map information indicating a map in the space based on a position of the control target device, at least one of first object-device relative position information indicating relative positions of the first object and the control target device or second object-device relative position information indicating relative positions of the second object and the control target device, and the layout constraint condition information stored in the storage unit.