Occupancy Grid Contour Simplification for Smoother Route Planning
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Solution Overview
Problem
Existing systems fail to appropriately generate routes from a current location of a moving body to a destination, particularly due to inefficient contour generation in occupancy grid maps, leading to unsuitable and lengthy paths.
Innovation Solution
A control device that includes a recognition part to identify objects around the moving body, an occupancy grid diagram generation part to create and refine contours based on object positions, and a route generation part to generate routes using optimized contours with reduced apexes, ensuring smoother path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a first contour with many apexes is generated to accurately represent the object boundary in the occupancy grid diagram, then the precision of obstacle representation is improved, but the complexity of the contour increases and route generation becomes less efficient
Solution Approach 1:
The patent extracts and removes redundant apexes from the first contour to generate a simplified second contour. This is achieved by identifying apexes that do not contribute significantly to the boundary representation and eliminating them, thereby reducing contour complexity while preserving essential obstacle shape information for efficient route generation.
Solution Approach 2:
The patent changes the parameter of apex count in the contour representation. By transforming the contour from having many apexes (first contour) to having fewer apexes (second contour), the system optimizes the balance between representation precision and computational efficiency for route planning.
2Measurement precision
If a contour with many apexes is used for route generation, then the accuracy of obstacle boundary representation is improved, but the route generation time and computational load increase
Solution Approach 1:
The patent extracts and removes redundant apexes from the first contour to generate a simplified second contour. This is achieved by identifying apexes that do not contribute significantly to the boundary representation and eliminating them, thereby reducing contour complexity while preserving essential obstacle shape information for efficient route generation.
Solution Approach 2:
The patent applies partial action by retaining only the essential apexes needed for accurate obstacle representation while removing excess apexes. This selective retention approach maintains sufficient boundary accuracy for safe navigation while significantly reducing computational burden for route generation.
3Reliability
If the occupancy grid diagram includes detailed contours with many apexes, then the completeness of environmental mapping is improved, but the processing load and memory requirements increase
Solution Approach 1:
The patent extracts and removes redundant apexes from the first contour to generate a simplified second contour. This is achieved by identifying apexes that do not contribute significantly to the boundary representation and eliminating them, thereby reducing contour complexity while preserving essential obstacle shape information for efficient route generation.
Solution Approach 2:
The patent changes the parameter of apex count in the contour representation. By transforming the contour from having many apexes (first contour) to having fewer apexes (second contour), the system optimizes the balance between representation precision and computational efficiency for route planning.
Data Source
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AI summary
A control device includes recognition-part that recognizes position of object present around moving-body based on image obtained by imaging state around the moving-body, occupancy-grid-diagram-generation-part that generates occupancy grid diagram including a plurality of grid cells based on the position of the object present around the moving-body, and route generation part that generates a route, which the moving-body follows based on contour of the object shown in the occupancy grid diagram, and the occupancy-grid-diagram-generation-part determines whether the object is present for each of the plurality of grid cells in the occupancy grid diagram based on the position of the object present around the moving-body, generates first contour showing contour of first region including grid cell in which it is determined that the object is present, and generates second contour including the first region with apex number smaller than that of the first contour as the contour of the object.