Priority Map Generation for Corrected Mobile Robot Localization
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Solution Overview
Problem
Existing technologies face delays in generating maps when correcting position/posture measurement errors in moving bodies, such as unmanned carriers and autonomous mobile robots, which hinders real-time obstacle detection and navigation.
Innovation Solution
An information processing apparatus that prioritizes map generation based on error correction status and location, using multiple sensors to acquire and correct position/posture information, and generates maps in a stepped manner from areas closest to the moving body's current position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If loop closing technology is used to correct position/posture measurement errors, then map accuracy is improved, but map generation delay time increases
Solution Approach 1:
The patent divides the map generation process into multiple priority levels. Areas close to the moving body's current position are processed with high priority, while distant areas are processed with lower priority. This segmentation allows the system to generate and update critical near-field map data immediately, reducing delay time for essential navigation areas, while still performing error correction and distant area processing in the background to maintain overall map accuracy.
2Measurement precision
If complete map regeneration is performed to ensure accuracy after position correction, then measurement precision is improved, but productivity decreases
Solution Approach 1:
Instead of performing complete map regeneration whenever position correction is needed, the patent applies partial action by only regenerating map data for areas that require updates based on corrected position information. The system identifies specific regions needing regeneration and processes only those areas, rather than regenerating the entire map. This maintains necessary map accuracy while significantly improving generation efficiency by avoiding redundant processing of already-accurate distant areas.
Data Source
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AI summary
An information processing apparatus (203) includes: a shape information acquiring means (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 means (205) configured to acquire position and posture information of the sensor; a correction state acquiring means (207) configured to acquire a performance state relating to a process of correcting the position and posture information; a priority level determining means (208) configured to determine a priority level of an area for generating a map; and a map generating means (209) 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 means (209) generates the map in order from an area of which the priority level is high in accordance with the performance state.