Environment map building method, environment map building apparatus and mobile robot apparatus
First Claim
1. A method for a device to build an environment map of an environment, the method comprising:
- detecting external environment conditions in the environment;
building the three-dimensional map showing a state of occupancy of a three-dimensional grid based on the external environment conditions, wherein the three-dimensional grid comprises cells corresponding to box-shaped spaces of the environment;
building a relative-to-base-plane height map showing heights from a two-dimensional base plane based on the external environment conditions;
modifying the relative-to-base-plane height map based on the three-dimensional map;
updating occupancy probability of the cells when height information of the relative-to-base-plane height map corresponds to the cells; and
controlling moving actions of the device for stepping up a staircase in the environment by using the relative-to-base-plane height map as the environment map, wherein the device steps up the staircase by transmitting infrared rays, the infrared rays forming a random pattern used to acquire a distance image.
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Abstract
An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.
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Citations
13 Claims
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1. A method for a device to build an environment map of an environment, the method comprising:
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detecting external environment conditions in the environment; building the three-dimensional map showing a state of occupancy of a three-dimensional grid based on the external environment conditions, wherein the three-dimensional grid comprises cells corresponding to box-shaped spaces of the environment; building a relative-to-base-plane height map showing heights from a two-dimensional base plane based on the external environment conditions; modifying the relative-to-base-plane height map based on the three-dimensional map; updating occupancy probability of the cells when height information of the relative-to-base-plane height map corresponds to the cells; and controlling moving actions of the device for stepping up a staircase in the environment by using the relative-to-base-plane height map as the environment map, wherein the device steps up the staircase by transmitting infrared rays, the infrared rays forming a random pattern used to acquire a distance image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A device for building an environment map of an environment, the apparatus comprising:
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means for detecting external environment conditions in the environment; means for building the three-dimensional map showing a state of occupancy of a three-dimensional grid based on the external environment conditions, wherein the three-dimensional grid comprises cells corresponding to box-shaped spaces of the environment; means for building a relative-to-base-plane height map showing heights from a two-dimensional base plane based on the external environment conditions; means for modifying the relative-to-base-plane height map based on the three-dimensional map; means for updating occupancy probability of the cells when height information of the relative-to-base-plane height map corresponds to the cells; and means for controlling moving actions of the device for stepping up a staircase in the environment by using the relative-to-base-plane height map as the environment map, wherein the device steps up the staircase by transmitting infrared rays, the infrared rays forming a random pattern used to acquire a distance image. - View Dependent Claims (10, 11, 12)
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13. A mobile apparatus comprising:
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means for detecting external environment conditions in an environment; means for building a three-dimensional map of an environment showing a state of occupancy of a three-dimensional grid based on the external environment conditions, wherein the three-dimensional grid comprises cells corresponding to box-shaped spaces of the environment; means for building a relative-to-base-plane height map showing heights from a two-dimensional base plane based on the external environment conditions; means for modifying the relative-to-base-plane height map based on the three-dimensional map; means for updating occupancy probability of the cells when height information of the relative-to-base-plane height map corresponds to the cells; and means for autonomously determining a moving route for the mobile apparatus, using the relative-to-base-plane height map as an environment map and controlling moving actions of the mobile apparatus based on the moving route, the moving route comprises stepping up a staircase, wherein the mobile apparatus steps up the staircase by transmitting infrared rays, the infrared rays forming a random pattern used to acquire a distance image.
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Specification