18910028. SELF-POSITION ESTIMATION SYSTEM, SELF-POSITION ESTIMATION APPARATUS, AND SELF-POSITION ESTIMATION METHOD (NEC Corporation)
SELF-POSITION ESTIMATION SYSTEM, SELF-POSITION ESTIMATION APPARATUS, AND SELF-POSITION ESTIMATION METHOD
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SELF-POSITION ESTIMATION SYSTEM, SELF-POSITION ESTIMATION APPARATUS, AND SELF-POSITION ESTIMATION METHOD
This abstract first appeared for US patent application 18910028 titled 'SELF-POSITION ESTIMATION SYSTEM, SELF-POSITION ESTIMATION APPARATUS, AND SELF-POSITION ESTIMATION METHOD
Original Abstract Submitted
Provided is a self-position estimation system including: a reference environment point cloud storage means for storing a reference environment point cloud for self-position estimation; a point cloud acquisition means for acquiring a short-distance point cloud in a wide field of view, and a long-distance point cloud farther away than the short-distance point cloud and in a narrow field of view; a rough estimation means for performing rough estimation on a self-position by registering the short-distance point cloud with respect to the reference environment point cloud; and a precision estimation means for performing precision estimation on the self-position by registering the long-distance point cloud with respect to the reference environment point cloud by using, as an initial condition, a rough estimation result by the rough estimation means.
