3D Point Cloud Positioning for Mobile Bodies With Changing Outer Shapes
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Solution Overview
Problem
Existing techniques struggle to accurately compare three-dimensional point cloud data with reference point cloud data for autonomous or remote control of mobile bodies like vehicles, especially when the outer shape of the mobile body changes due to component assembly during manufacturing.
Innovation Solution
An apparatus that acquires three-dimensional point cloud data of a target region on a mobile body where no component is assembled and compares it with reference point cloud data to determine the position and direction of the mobile body, allowing for appropriate comparison even when the outer shape changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional point cloud data is compared with reference point cloud data to determine position and direction, then autonomous or remote control can be achieved, but the comparison becomes inaccurate when the outer shape of the mobile body changes due to component assembly
Solution Approach 1:
The patent divides the mobile body's outer shape into multiple regions: a first region (reference region) that remains unchanged during component assembly, and a second region (component assembly region) where components are assembled. By segmenting the comparison target to focus only on the first region, the system maintains accurate position and direction determination despite changes in the second region.
Solution Approach 2:
The patent applies different requirements to different regions of the mobile body. The first region is designated as having reference quality (unchanged geometry for accurate comparison), while the second region allows for variability due to component assembly. This local differentiation enables the comparison system to focus on stable geometric features for position and direction determination.
2Ease of manufacture
If the outer shape of the mobile body is allowed to change during manufacturing, then component assembly flexibility is improved, but the accuracy of point cloud data comparison deteriorates
Solution Approach 1:
The patent segments the mobile body into a reference region (first region) that maintains constant geometry and a component assembly region (second region) that undergoes shape changes. This segmentation allows component assembly flexibility in the second region while preserving measurement precision through comparison of the stable first region.
Solution Approach 2:
The patent designates specific regions with different functional qualities: the first region maintains reference quality for accurate comparison, while the second region allows manufacturing flexibility. This local quality differentiation resolves the contradiction between manufacturing ease and measurement precision.
Data Source
AI summary
An apparatus includes: a point cloud data acquisition unit that acquires three-dimensional point cloud data including a point cloud of a target region having a region in which a component is not assembled in a predetermined plurality of steps among external shapes of the moving body; and a position information acquisition unit that acquires at least one of a position and a direction of the moving body by comparing the acquired three-dimensional point cloud data with reference point cloud data including a point cloud corresponding to the target region.