Moving Body Map Generation with Priority-Based Loop Closure Updates
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Solution Overview
Problem
Existing technologies for generating maps in moving bodies, such as unmanned carriers and autonomous mobile robots, face delays when correcting position and posture measurement errors, particularly during loop closing processes, which hinder real-time map updates.
Innovation Solution
An information processing apparatus that includes a shape information acquiring unit, a position and posture acquiring unit, a correction state acquiring unit, a priority level determining unit, and a map generating unit, which prioritizes map generation based on performance states and area importance to reduce delay times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If loop closing correction is performed to improve map accuracy, then measurement precision is improved, but delay time for map generation increases
Solution Approach 1:
The map generation process is divided into multiple priority levels. High-priority areas (such as areas near the moving body or areas with important features) are generated and updated first, while lower-priority areas are processed subsequently. This segmentation allows the system to provide timely map updates for critical regions without waiting for complete correction of all areas, thus reducing the perceived delay time while maintaining accuracy where it matters most.
Solution Approach 2:
The system performs preliminary map generation using available data before the correction process is fully complete. By generating a preliminary version of the map with current position and posture information, the system can provide immediate feedback and continue processing corrections in the background, thereby reducing the effective delay time for map availability while still achieving accurate final results.
2Manufacturing precision
If complete map regeneration is performed to ensure accuracy, then manufacturing precision is improved, but productivity decreases
Solution Approach 1:
Different regions of the map are assigned different quality levels based on their importance. Areas with high priority (such as navigation-critical zones or areas with recent changes) undergo complete correction and regeneration to ensure high accuracy, while areas with low priority use faster, less computationally intensive generation methods. This local differentiation of quality standards allows the system to maintain overall map accuracy while significantly improving generation speed by avoiding unnecessary processing of all areas at maximum quality.
Data Source
AI summary
An information processing apparatus includes: a shape information acquiring unit 204 configured to acquire shape information of a surrounding environment of a moving body measured by a sensor mounted in the moving body; a position and posture acquiring unit configured to acquire position and posture information of the sensor; a correction state acquiring unit configured to acquire a performance state relating to a process of correcting the position and posture information; a priority level determining unit configured to determine a priority level of an area for generating a map; and a map generating unit configured to generate the map on the basis of the shape information and the position and posture information acquired at the time of acquisition of the shape information, in which the map generating unit generates the map in order from an area of which the priority level is high in accordance with the performance state.