POSITION STATE ESTIMATION DEVICE AND POSITION STATE ESTIMATION METHOD
First Claim
1. A position state estimation device to estimate a position state including a position of a moving object, comprising:
- an evaluator to calculate, based on a measurement value of the position state at time (t), an evaluation value of a sample (t) of the position state at the time (t);
an estimator to estimate, based on the sample (t) and the evaluation value, the position state at the time (t);
a selector to select, based on the estimated position state at the time (t), a destination of the moving object from among destination candidates;
a searcher to search for a valid path to the destination; and
a sampler to generate, based on a transition model of the position state, the sample (t), and the valid path, a plurality of samples (t+1) for a subsequent operation timing after the time (t).
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Accused Products
Abstract
A position state estimation device according to an embodiment estimates a position state including a position of a moving object. The device includes an evaluator, an estimator, a selector, a searcher, and a sampler. Based on a measurement value of the position state at time (t), the evaluator calculates an evaluation value of a sample (t) of the position state at the time (t). Based on the sample (t) and the evaluation value, the estimator estimates the position state at the time (t). Based on the estimated position state at the time (t), the selector selects a destination of the moving object from among destination candidates. The searcher searches for a valid path to the destination. Based on a transition model of the position state, the sample (t), and the valid path, the sampler generates a plurality of samples (t+1) for a subsequent operation timing after the time (t).
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Citations
9 Claims
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1. A position state estimation device to estimate a position state including a position of a moving object, comprising:
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an evaluator to calculate, based on a measurement value of the position state at time (t), an evaluation value of a sample (t) of the position state at the time (t); an estimator to estimate, based on the sample (t) and the evaluation value, the position state at the time (t); a selector to select, based on the estimated position state at the time (t), a destination of the moving object from among destination candidates; a searcher to search for a valid path to the destination; and a sampler to generate, based on a transition model of the position state, the sample (t), and the valid path, a plurality of samples (t+1) for a subsequent operation timing after the time (t). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A position state estimation method that estimates a position state including a position of a moving object, comprising:
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calculating, based on a measurement value of the position state at time (t), an evaluation value of a sample (t) of the position state at the time (t); estimating, based on the sample (t) and the evaluation value, the position state at the time (t); selecting, based on the estimated position state at the time (t), a destination of the moving object from among destination candidates; searching for a valid path to the destination; and generating, based on a transition model of the position state, the sample (t), and the valid path, a sample (t+1) for a subsequent operation timing after the time (t).
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Specification