Scene Suitability Assessment for Autonomous Localization Accuracy
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Solution Overview
Problem
The accuracy of self-position estimation in autonomous mobile apparatuses is compromised by factors such as weather and movable objects, particularly due to changing shadows and light conditions, which affect the localization processing.
Innovation Solution
An information processing apparatus equipped with a scene obtaining unit and a suitability determining unit that assesses the suitability of scenes for localizing processing based on position, attitude, and three-dimensional shape information, detecting disturbance factors like shadows and moving objects to enhance the accuracy of self-position estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional localizing processing is performed without scene suitability assessment, then processing speed is maintained, but accuracy of self-position estimation deteriorates due to disturbance factors like shadows and moving objects
Solution Approach 1:
The patent applies preliminary action by assessing scene suitability before performing localizing processing. The suitability determination unit evaluates whether the current scene contains disturbance factors (shadows, moving objects) that would degrade localization accuracy, and only proceeds with localizing processing when the scene is deemed suitable. This prevents inaccurate processing while maintaining system simplicity through selective execution.
2Measurement precision
If scene suitability assessment is performed to improve localization accuracy, then measurement precision improves, but processing time increases due to additional assessment steps
Solution Approach 1:
The patent applies partial action by performing only the necessary scene assessment checks required to identify disturbance factors, rather than conducting a complete analysis of all scene parameters. The suitability determination unit focuses specifically on detecting shadows and moving objects that impact localization, performing minimal necessary evaluations to maintain accuracy without excessive time consumption.
3Measurement precision
If disturbance factors like shadows are removed or corrected, then localization accuracy improves, but the system complexity increases due to additional processing requirements
Solution Approach 1:
The patent applies the extraction principle by identifying and isolating disturbance factors (shadows, moving objects) from the scene through the suitability determination unit. Instead of attempting to correct or remove these factors through complex image processing, the system extracts them as separate entities and excludes scenes containing them from localizing processing, thereby improving accuracy without introducing complex correction mechanisms.
Data Source
AI summary
An information processing apparatus includes a scene obtaining unit and a suitability determining unit. The scene obtaining unit is configured to obtain a scene including position and attitude information of a movable object equipped with a camera and information regarding a three-dimensional shape of an object to be imaged, the object to be imaged being imaged by the camera. The suitability determining unit is configured to determine suitability of the scene on the basis of suitability data indicating whether or not the obtained scene is suitable for localizing processing.