Self-Position Estimation Accuracy Notification for Mobile Robots
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Solution Overview
Problem
Existing methods for self-position estimation in robots and movable apparatuses, such as AGVs, face challenges in accurately determining the factors that affect the accuracy of self-position estimation, making it difficult to maintain stable movement control.
Innovation Solution
An information processing device is developed with a self-position estimating unit, an accuracy determining unit, and a notification unit that uses image analysis to detect objects and notify users when accuracy falls below a predetermined range, allowing for improved self-position estimation by combining image and sensor information, and reducing unnecessary calculations to conserve resources.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If self-position estimation is performed using image information, then movement control stability is improved, but the ability to determine accuracy factors deteriorates
Solution Approach 1:
The system segments the self-position estimation process into multiple independent analysis components: feature amount extraction, object detection, and accuracy determination. Each segment analyzes specific aspects of the image data separately, allowing the system to identify which specific factor (feature amount or object detection result) is causing accuracy degradation, thereby resolving the contradiction between maintaining stability and determining accuracy factors.
2Measurement precision
If image analysis is performed to detect objects, then accuracy determination is improved, but computational resources are consumed
Solution Approach 1:
The system performs partial image analysis by selectively executing object detection only when necessary for accuracy determination. Instead of continuously performing full image analysis, the system analyzes specific portions of the image data based on the current estimation accuracy requirements, reducing unnecessary computational resource consumption while maintaining adequate accuracy determination capability.
Data Source
AI summary
An information processing device that can notify of information on an object affecting accuracy in self-position estimation includes: a self-position estimating unit configured to estimate a self-position on the basis of an image; an accuracy determining unit configured to determine accuracy in estimation of the self-position; an image analyzing unit configured to detect an object from the image; and a notification unit configured to notify of information on the object detected by the image analyzing unit in a case in which the accuracy is outside of a predetermined range.