METHOD AND APPARATUS FOR ESTIMATING POSITION OF MOVING OBJECT
First Claim
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1. An apparatus for estimating a position of a moving object, the apparatus comprising:
- a sensor module configured to obtain environment information on moving distance and measured distance of the moving object, captured image around the moving object, and GIS data of the moving object;
a map standard storage unit for storing information on attribute and position of obstacles in a space over which the moving object is moving;
a global map creating unit configured to create a global map for the space on the basis of the environment information obtained by the sensor module and the information on the attribute and position of the obstacles stored in the map standard storage unit;
a local map creating unit configured to receive the environment information to create a local map; and
a matching unit configured to estimate a position of the moving object on the global map through matching of the local map and the global map.
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Abstract
An apparatus of estimating a position of a moving object creates a global map for a space over which the moving object is moving, on the basis of environment information on moving distance, measured distance, captured image and GIS data, and attribute and position of obstacles within the space. The method also creates a local map on the basis of the environment information obtained from around the moving object, and estimates a position of the moving object on the global map through matching of the local map and the global map.
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Citations
12 Claims
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1. An apparatus for estimating a position of a moving object, the apparatus comprising:
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a sensor module configured to obtain environment information on moving distance and measured distance of the moving object, captured image around the moving object, and GIS data of the moving object; a map standard storage unit for storing information on attribute and position of obstacles in a space over which the moving object is moving; a global map creating unit configured to create a global map for the space on the basis of the environment information obtained by the sensor module and the information on the attribute and position of the obstacles stored in the map standard storage unit; a local map creating unit configured to receive the environment information to create a local map; and a matching unit configured to estimate a position of the moving object on the global map through matching of the local map and the global map. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of estimating a position of a moving object, the method comprising:
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creating a global map for the space over which the moving object is moving, on the basis of environment information on moving distance, measured distance, captured image and GIS data and information on attribute and position of obstacles within the space; creating a local map on the basis of environment information obtained from around the moving object moving over the space; and estimating a position of the moving object on the global map through matching of the local map and the global map. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification