MOBILE POSITIONING SYSTEM
First Claim
1. A mobile positioning apparatus comprising:
- a position storage device which holds a position information group indicating a current position of a mobile body and likelihood information thereof as a nonparametric distribution;
a movement vector estimation device which outputs a movement vector indicating a moving distance and a moving direction of the mobile body at a discrete time T and likelihood information thereof;
an image database which holds a peripheral map of a range of movement of the mobile body as an image group of a resolution according to a moving resolution of the mobile body; and
a pixel crossing determination device which performs map matching using the position information group and the movement vector based on the peripheral map;
wherein the image database accumulates the peripheral map as a pixel image group which has a different pixel value depending on a region where the mobile body can move and the other regions and which has a known correspondence to position information; and
the pixel crossing determination device generates a position candidate group at a discrete time T+1 based on a position information group at a discrete time T held by the position storage device, a movement vector outputted by the movement vector estimation device, and likelihood information of the movement vector;
performs a pixel crossing determination on each position candidate taken from the position candidate group to determine whether a moving path connecting between a point before movement and a point after movement thereof crosses a pixel inhibiting movement and passage on an image;
filters the generated position candidate group and generates the remaining position candidate group;
normalizes the result, generates a position information group of a nonparametric distribution of a position at a discrete time T +1, and updates a content of the position storage device.
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Accused Products
Abstract
There is provided a mobile positioning apparatus for performing map matching based on a pixel image. The mobile positioning apparatus comprises a position storage device which holds a position information group indicating a current position of a mobile body and likelihood information thereof as a nonparametric distribution; a movement vector estimation device which outputs a movement vector indicating a moving distance and a moving direction of the mobile body at a discrete time T and likelihood information thereof; an image database which holds a peripheral map of a range of movement of the mobile body as an image group of a resolution according to a moving resolution of the mobile body; and a pixel crossing determination device which performs map matching using the position information group and the movement vector based on the peripheral map.
17 Citations
16 Claims
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1. A mobile positioning apparatus comprising:
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a position storage device which holds a position information group indicating a current position of a mobile body and likelihood information thereof as a nonparametric distribution; a movement vector estimation device which outputs a movement vector indicating a moving distance and a moving direction of the mobile body at a discrete time T and likelihood information thereof; an image database which holds a peripheral map of a range of movement of the mobile body as an image group of a resolution according to a moving resolution of the mobile body; and a pixel crossing determination device which performs map matching using the position information group and the movement vector based on the peripheral map; wherein the image database accumulates the peripheral map as a pixel image group which has a different pixel value depending on a region where the mobile body can move and the other regions and which has a known correspondence to position information; and the pixel crossing determination device generates a position candidate group at a discrete time T+1 based on a position information group at a discrete time T held by the position storage device, a movement vector outputted by the movement vector estimation device, and likelihood information of the movement vector; performs a pixel crossing determination on each position candidate taken from the position candidate group to determine whether a moving path connecting between a point before movement and a point after movement thereof crosses a pixel inhibiting movement and passage on an image; filters the generated position candidate group and generates the remaining position candidate group; normalizes the result, generates a position information group of a nonparametric distribution of a position at a discrete time T +1, and updates a content of the position storage device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 12)
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11. A mobile positioning apparatus, comprising:
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a position storage device which holds a position information group indicating a current position of a mobile body and likelihood information thereof as a nonparametric distribution; a movement vector estimation device which outputs a movement vector indicating a moving distance and a moving direction of the mobile body at a discrete time T and likelihood information thereof; an image database which holds a peripheral map of a range of movement of the mobile body as a vector image group; and a vector crossing determination device which performs map matching using the position information group and the movement vector based on the peripheral map; wherein the image database accumulates the peripheral map as a vector image group which has a different data value in a vector format depending on a region where the mobile body can move and the other regions and which has a known correspondence to position information; and the vector crossing determination device generates a position candidate group at a discrete time T+1 based on a position information group at a discrete time T held by the position storage device, a movement vector outputted by the movement vector estimation device, and likelihood information of the movement vector; performs a region crossing determination on each position candidate taken from the position candidate group to determine whether a moving path connecting between a point before movement and a point after movement thereof crosses a region inhibiting movement and passage on a vector image; filters the generated position candidate group and generates the remaining position candidate group; normalizes the result, generates a position information group of a nonparametric distribution of a position at a discrete time T+1, and updates a content of the position storage device. - View Dependent Claims (13, 14, 15, 16)
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Specification