Autonomous Mobile Mapping With Angle Data for Slope Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional self position estimation by map matching using 2D-LiDAR assumes a horizontal surface, leading to incorrect obstacle detection and travel hindrance on slopes, and is costly and limited by sensor restrictions.
Innovation Solution
An information processing device that creates a map with angle information, using obstacle position information and angle data at each travel position, allowing the autonomous mobile body to detect slopes and adjust its travel plan without requiring 3D sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If 2D-LiDAR is used for self position estimation assuming horizontal surface, then cost is reduced and device complexity is lowered, but measurement precision deteriorates on sloped surfaces leading to erroneous obstacle detection
Solution Approach 1:
The patent transforms the 2D-LiDAR measurement data into a 3D representation by calculating elevation angles for each detected point. The map creation unit generates three-dimensional map information including elevation angle data, enabling the system to perceive slope conditions without using 3D-LiDAR hardware. This dimensional transformation resolves the contradiction by achieving 3D awareness through processing of 2D sensor data.
2Measurement precision
If 3D-LiDAR is used to detect slopes and three-dimensional environment, then measurement precision is improved, but device complexity increases and cost increases
Solution Approach 1:
The patent creates a virtual three-dimensional representation of the environment by calculating elevation angles from 2D-LiDAR data. Instead of using expensive 3D-LiDAR hardware, the system generates a copied 3D model through computational processing, achieving similar functional outcomes without the hardware complexity and cost of true 3D sensors.
3Ease of operation
If map matching is performed assuming fixed posture on horizontal surface, then ease of operation is improved, but adaptability deteriorates when mobile device posture changes on slopes
Solution Approach 1:
The patent makes the map matching system dynamic by incorporating elevation angle information and mobile device posture data. The system adjusts the map matching process based on detected slopes and posture changes, allowing accurate position estimation even when the mobile device operates on inclined surfaces or changes orientation, thereby improving adaptability while maintaining operational simplicity.
Data Source
AI summary
Provided is an information processing device, an information processing method, and an information processing program capable of improving mobility of an autonomous mobile body at a low cost. An information processing device according to an embodiment includes: a map creation unit that creates a map on the basis of obstacle position information indicating a position of an obstacle site that obstructs travel by a mobile device, and angle information indicating an angle at each travel position at which the mobile device travels of the mobile device.