Chiba Institute of Technology

Masahiro Tomono

Takayuki Furuta

Shunji Yamanaka

Masaharu Shimizu

Hideaki Yamato

Kiyoshi Irie

Yoshitaka Hara

Provided are an information processing device and a mobile robot capable of ensuring the accuracy of estimation of a self-position even with an environmental change and maintaining the consistency of the self-position on a map. The information processing device of the mobile robot includes a control section and a detection section configured to detect a distance to a peripheral object and the direction thereof as detection information. The control section includes a storage, a map producer configured to produce a peripheral map, an existing map self-position estimator configured to estimate a current self-position based on an existing map, a current map self-position estimator configured to estimate the current self-position based on a current map, a reliability evaluator configured to evaluate the reliability of each of the estimated self-positions, and a self-position updater configured to update either one of the self-positions based on the reliability.

Information processing device and mobile robot

An information processing device includes a detection section configured to acquire the presence or absence of an object at the periphery of a mobile robot as the detection information, a control section configured to control the detection section, and a map construction section configured to construct an occupied map. The map construction section includes a storage configured to store the detection information in chronological order, a map producer configured to produce a map based on the detection information, a normal line acquirer configured to acquire a normal line to each determination point based on the presence or absence of the object at the periphery of each determination point on the temporal map produced by the map producer, and a validity determinator configured to determine the validity of the detection information on each determination point based on an angle between each beam and the normal line at each determination point.

Information processing device for constructing an occupied map for a mobile robot

A self-localization device that can reduce the processing time even when estimating the self-location in an environment where the number of pieces of three-dimensional point group data is large wherein the self-localization device includes an estimation unit that includes: a map generation unit that generates a map of surroundings of the mobile robot based on three-dimensional point group data detected by a detection unit; a geometric feature extraction unit that extracts geometric features from a current map and extracts geometric features from a past map; a self-location calculation unit that selects the geometric features extracted by the geometric feature extraction unit as sets of geometric features and calculates self-locations in the past map; and a self-location evaluation unit that evaluates a degree of coincidence between the current map and the past map for each set of geometric features.

Self-localization device

Provided are a map generation system and a mobile object configured so that the map accuracy of an occupancy grid map can be ensured while a memory capacity and an arithmetic processing load can be reduced. The map generation system includes a storage () configured to store, as detection information, a detection value obtained for each detection unit by a detection device () in chronological order, a map producer () configured to produce the occupancy grid map based on the detection information stored in the storage () and cause the storage () to store the occupancy grid map, and an influence ratio calculator () configured to calculate an influence ratio for the occupancy grid map for each piece of detection information stored in the storage (). The map producer () sorts the detection information based on the influence ratio calculated by the influence ratio calculator () to produce the occupancy grid map.

Map generation system and mobile object

Provided is a movement robot configured so that various types of operation can be executed according to motion of other objects or a movement body and a utilization area can be expanded accordingly. The movement robot includes a robot body, a control unit, a traveling unit, and a detection unit. The control unitincludes a storage sectionconfigured to store detection information detected by the detection unitin chronological order, a map production sectionconfigured to produce a map of the periphery of the robot body, a movement body detection sectionconfigured to detect a movement bodydifferent from the robot body, a route control sectionconfigured to associate the map with robot route informationindicating a movement route of the robot bodyand movement body route informationindicating a movement route of the movement body, and an coordinated movement control sectionconfigured to move the robot bodyin coordination with the movement bodybased on the robot route informationand the movement body route information

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Chiba, Japan

Masahiro Tomono