Map Error Notification for SLAM Self-Localization Accuracy
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Solution Overview
Problem
Existing SLAM methods, such as those described in Japanese Patent No. 7105819, face challenges in determining the optimal timing for map correction and monitoring map error accumulation, leading to potential errors in self-localization.
Innovation Solution
An information processing apparatus that acquires evaluation information for multiple map data sets generated by various sensors on a movable apparatus, evaluates errors in these map data sets, and provides notifications to users regarding map alignment and error status.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If map correction is performed based on graph structure modification, then map accuracy is improved, but user ability to determine correction timing and monitor error status deteriorates
Solution Approach 1:
The patent introduces a feedback mechanism by calculating and notifying users of map error amounts based on accumulated sensing data. The error amount notification unit computes the deviation between actual sensor measurements and map-based expected values, then feeds this error information back to the user through notifications. This enables users to monitor map error status and determine optimal correction timing, resolving the information loss problem while maintaining map accuracy improvements.
2Manufacturing precision
If map correction is performed based on graph structure modification, then map accuracy is improved, but user control over correction timing deteriorates
Solution Approach 1:
The error amount notification unit provides users with quantitative error information, enabling them to make informed decisions about when to perform map corrections. Users can monitor the notified error amounts and自主选择 the timing of corrections based on their operational needs and error thresholds, thereby improving ease of operation while maintaining map accuracy.
Solution Approach 2:
The system calculates and notifies error amounts automatically without requiring user intervention, allowing users to service the map at their convenience based on the provided information. This self-service approach gives users control over correction timing while the system handles the complex error calculation and notification processes.
3Adaptability or versatility
If asynchronous sensing data is used to modify graph structure, then adaptability to varying data conditions is improved, but error accumulation monitoring deteriorates
Solution Approach 1:
The patent implements continuous error calculation and notification based on accumulated asynchronous sensing data. The error amount notification unit continuously computes errors from asynchronously arriving sensor data and provides feedback to users. This enables precise error monitoring even when dealing with asynchronous data inputs, maintaining measurement precision while preserving adaptability to varying data conditions.
Data Source
AI summary
An information processing apparatus acquires evaluation information for performing evaluation of at least one of a plurality of map data each generated based on measurement data of a plurality of sensors arranged on a movable apparatus. Then, the information processing apparatus evaluates an error of at least one map data of the plurality of map data based on the evaluation information and performs notification based on the evaluation of the error.