Sensor Reliability Mapping for Orientation-Aware Mobile Navigation
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Solution Overview
Problem
Existing methods for autonomous movement of objects, such as vehicles in warehouses, often exclude regions with low reliability in position and orientation estimation, limiting the travelable area and stability of navigation.
Innovation Solution
An information processing apparatus that acquires position and orientation information from sensors attached to moving objects, generates a reliability map based on this information, and determines the object's orientation to maintain reliability above a predetermined threshold during movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If low-reliability regions are excluded from travelable regions, then position and orientation estimation reliability is improved, but the travelable area is reduced
Solution Approach 1:
The patent applies local quality by determining orientation-specific reliability values for different regions rather than applying a uniform reliability threshold. The reliability map stores reliability information for each orientation at each position, allowing the system to identify regions that are travelable for specific orientations even if they would be excluded under a conventional uniform threshold approach. This enables differentiated treatment of different spatial locations based on their orientation-dependent characteristics.
Solution Approach 2:
The patent implements dynamics by making the travelable region determination dependent on the orientation of the moving object. Instead of static exclusion zones, the system dynamically evaluates whether a region is travelable based on the current or planned orientation of the object. This allows the same physical location to be accessible under different orientation conditions, effectively expanding the usable travelable area while maintaining reliability standards.
2Device complexity
If a uniform reliability threshold is applied to all regions, then reliability control is simplified, but the ability to utilize potentially usable low-reliability regions is reduced
Solution Approach 1:
The patent applies segmentation by dividing the reliability evaluation into orientation-specific components. Instead of a single uniform threshold, the system creates separate reliability assessments for different orientations at each position. This segmentation allows the system to identify and utilize regions that may have low overall reliability but are acceptable for specific orientations, thereby increasing adaptability while maintaining manageable complexity through structured organization of reliability data.
3Measurement precision
If the moving object is restricted to high-reliability regions only, then navigation accuracy is improved, but the route options are limited
Solution Approach 1:
The patent implements dynamics by making route determination dependent on the orientation of the moving object. The system evaluates whether regions are navigable based on orientation-specific reliability values rather than fixed geographic boundaries. This allows route planning to incorporate regions that offer acceptable navigation accuracy for specific orientations, thereby expanding route options while maintaining navigation precision requirements.
Solution Approach 2:
The patent applies local quality by allowing different orientation-specific reliability standards at different locations along the route. Instead of requiring uniformly high reliability throughout, the system permits navigation through regions with lower overall reliability if the specific orientation required for passage provides sufficient accuracy. This enables more diverse route options while preserving navigation accuracy where it matters most.
Data Source
AI summary
An information processing apparatus including at least one memory storing instructions and at least one processor that, upon execution of the instructions, is configured to acquire, based on a measurement value measured by a sensor attached to a moving object, information about a position and an orientation of the moving object and a reliability of position/orientation estimation, generates, based on the position and the orientation and the reliability, a reliability map including the reliability for each orientation of the sensor, and determines the orientation of the moving object with the sensor such that the reliability increases, based on the generated reliability map.