Movable Body Control Using Selective 3D Point Cloud Ranges
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Solution Overview
Problem
The processing of large amounts of three-dimensional point cloud data required for estimating the position and orientation of a movable body, such as a vehicle, leads to potential cycle delays in control systems, necessitating a more efficient method to stabilize the control process.
Innovation Solution
A control device that specifies a use range within the three-dimensional point cloud data, focusing on characteristic portions with higher density, to reduce processing load and minimize cycle delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If all three-dimensional point cloud data is processed to estimate position and orientation, then estimation accuracy is improved, but processing time increases causing cycle delay
Solution Approach 1:
The patent divides the three-dimensional point cloud data into multiple ranges (first range and second range) based on distance from the distance measurement device. By segmenting the data processing task, the system processes only the first range with high frequency for control purposes, while the second range is processed less frequently, thus reducing overall processing time while maintaining sufficient estimation accuracy for control stabilization.
Solution Approach 2:
The patent applies different processing qualities to different data ranges. The first range (closer objects) is processed with higher priority and frequency to ensure accurate position and orientation estimation for control, while the second range (distant objects) is processed with lower priority. This local quality differentiation ensures critical control functions receive sufficient precision without processing all data at maximum quality.
2Loss of time
If a use range is specified to reduce processing time, then cycle delay is reduced, but estimation accuracy may deteriorate
Solution Approach 1:
The patent dynamically adjusts the processing frequency and range of point cloud data based on control needs. The control device processes the first range at a first frequency for timely control responses, while processing the second range at a lower second frequency. This dynamic processing strategy ensures cycle time requirements are met while maintaining adequate estimation accuracy through selective, frequency-differentiated processing.
Solution Approach 2:
The patent performs preliminary processing by identifying and prioritizing the first range of point cloud data that is most critical for control estimation. By pre-determining which data ranges are essential for control stabilization and processing them first with higher frequency, the system ensures accurate position and orientation estimation is achieved within the required control cycle time.
3Productivity
If characteristic portions with higher density are focused on, then processing efficiency is improved, but data coverage is reduced
Solution Approach 1:
The patent segments the observation region into multiple ranges based on distance from the distance measurement device. The first range (closer region) is processed with high frequency to capture characteristic portions with higher density for control estimation, while the second range (distant region) is processed less frequently. This segmentation allows efficient processing of critical high-density areas while maintaining adequate coverage of broader regions.
Solution Approach 2:
The patent applies different processing intensities to different spatial regions. Regions with higher characteristic quantity density (first range) receive intensive processing with high frequency to efficiently extract position and orientation information, while regions with lower density (second range) receive reduced processing frequency. This local quality approach maximizes processing efficiency in critical areas while maintaining sufficient overall coverage.
Data Source
AI summary
A control device is configured to generate a control command for controlling a movable body, using three-dimensional point cloud data about the movable body that is measured using a distance measurement device, the control device including: a range specification unit configured to specify a use range that is a range including only some of the three-dimensional point cloud data; and an estimation unit configured to estimate at least one of the position and orientation of the movable body, using the three-dimensional point cloud data in the use range.