Method for specifying position, terminal device, autonomous device, and program
First Claim
1. A method for controlling an autonomous device that moves in two dimensions using a controller, the method comprising:
- obtaining, at a first position, which is a destination of the autonomous device, a first image including a target above the first position;
calculating, from the first image, first feature values indicating certain characteristics of the first image;
referring to map information indicating correspondences between coordinate information indicating coordinates of defined positions included in a movement area of the autonomous device and second feature values, which are calculated from second images and indicate certain characteristics of the second images, the second images being obtained by capturing, at the defined positions, images of scenes above the defined positions, and identifying, by referring to the map information, a second position corresponding to second feature values having at least a predetermined degree of correspondence to the first feature values;
generating a command for moving the autonomous device to the second position on the basis of coordinate information corresponding to the second position; and
transmitting the command to the autonomous device.
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Abstract
A method for controlling an autonomous device that moves in two dimensions using a controller includes obtaining a first image at a first position, which is a destination of the autonomous device, calculating, from the first image, first feature values indicating certain characteristics of the first image, referring to map information indicating correspondences between coordinate information indicating coordinates of defined positions included in a movement area of the autonomous device and second feature values, which are calculated from second images and indicate certain characteristics of the second images and identifying, by referring to the map information, a second position corresponding to second feature values having at least a predetermined degree of correspondence to the feature values generating a command for moving the autonomous device to the second position on the basis of coordinate information corresponding to the second position, and transmitting the command to the autonomous device.
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Citations
13 Claims
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1. A method for controlling an autonomous device that moves in two dimensions using a controller, the method comprising:
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obtaining, at a first position, which is a destination of the autonomous device, a first image including a target above the first position; calculating, from the first image, first feature values indicating certain characteristics of the first image; referring to map information indicating correspondences between coordinate information indicating coordinates of defined positions included in a movement area of the autonomous device and second feature values, which are calculated from second images and indicate certain characteristics of the second images, the second images being obtained by capturing, at the defined positions, images of scenes above the defined positions, and identifying, by referring to the map information, a second position corresponding to second feature values having at least a predetermined degree of correspondence to the first feature values; generating a command for moving the autonomous device to the second position on the basis of coordinate information corresponding to the second position; and transmitting the command to the autonomous device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A terminal device comprising:
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a camera; a display; and a processor, wherein the processor is configured to; control an autonomous device that moves in two dimensions, cause, at a first position, which is a destination of the autonomous device, the camera to capture a first image including a target above the first position, display, on the display, information indicating a second position which is a position corresponding to the destination of the autonomous device, identify the second position on the basis of (i) first feature values, which are calculated from the first image and indicate certain characteristics of the first image, and (ii) map information indicating correspondence between coordinate information indicating coordinates of defined positions in a movement area of the autonomous device, and second feature values, which are calculated from second images and indicate certain characteristics of the second images, the second images being obtained at the defined positions by capturing images of scenes above the defined positions, and wherein, the second position is one of the defined positions having second feature values which has at least a predetermined degree of correspondence to the first feature values. - View Dependent Claims (12)
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13. A controller that controls an autonomous device that moves in two-dimensions, the controller comprising:
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a processor; and a memory, wherein the processor is configured to; obtain, at a first position, which is a destination of the autonomous device, a first image including a target above the first position, calculate, from the first image, first feature values indicating certain characteristics of the first image, refer to map information indicating correspondences between coordinate information indicating coordinates of defined positions included in a movement area of the autonomous device and second feature values, which are stored in the memory, and which are calculated from second images, and indicate certain characteristics of the second images, the second images being obtained by capturing, at the defined positions, images of scenes above the defined positions, and identify, by referring to the map information, a second position corresponding to second feature values having at least a predetermined degree of correspondence to the first feature values, generate a command for moving the autonomous device to the second position on the basis of coordinate information corresponding to the second position, and transmit the command to the autonomous device.
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Specification