Vehicle Map Processing for Accumulated-Error Loop Closure Alerts
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Solution Overview
Problem
Conventional SLAM technologies face complications in accurately correcting accumulative errors during map generation due to the lack of user perception of the appropriate timing and position for loop closure, leading to increased operational complexity.
Innovation Solution
An information processing device that acquires movement and environmental data, estimates error generation, evaluates the accumulation of errors, and determines the need for correction using loop closure, notifying the user through appropriate devices to simplify the map generation process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If loop closure correction is performed manually during map information generation, then map accuracy is improved, but operational complexity increases
Solution Approach 1:
The system continuously monitors accumulative error during map information generation and provides feedback to the user when correction is needed. The notification device alerts the user about the current accumulative error state, enabling them to perform loop closure correction at appropriate timing without needing to understand complex technical parameters.
Solution Approach 2:
The system automatically evaluates whether loop closure correction is needed by monitoring accumulative error, and the notification device automatically informs the user. This self-monitoring and self-notification mechanism reduces the burden on the user, who only needs to act when prompted rather than continuously managing correction decisions.
2Loss of time
If accumulative error is continuously monitored and evaluated, then correction timing is optimized, but device complexity increases
Solution Approach 1:
The error evaluation function divides the map information generation process into segments where accumulative error is evaluated at regular intervals. This segmentation allows the system to monitor error accumulation without continuously processing all data, reducing computational complexity while maintaining effective monitoring.
Solution Approach 2:
The system performs partial evaluation by only assessing whether correction is needed rather than continuously optimizing all parameters. The notification device provides sufficient information for correction decisions without requiring full analytical processing, achieving effective timing optimization with reduced computational burden.
Data Source
AI summary
In an information processing device processing map information of a surrounding environment of a vehicle, a sensor information acquiring unit acquires output information of a sensor performing measurement relating to a movement amount or the surrounding environment of the vehicle. An error generation amount calculating unit calculates an error generation amount in position information of an element configuring map information on the basis of the acquired information. An accumulative error evaluating unit evaluates an accumulation degree of the calculated error generation amount. A correction determining unit determines need for an accumulative error correcting process relating to map information on the basis of an evaluation result of the accumulative error. In accordance with an instruction from the correction determining unit, a notification device notifies a user of need for correction using loop closure.