Position detection device, position detection method, and computer program product
First Claim
1. A position detection device comprising:
- a position estimation unit, implemented as processing circuitry, configured to estimate a position of a moving object based on an absolute position of the moving object and a position change of the moving object obtained from autonomous navigation;
a position correction unit configured to correct, based on presence probability information which is information on each of a plurality of regions and indicates a higher probability as a presence frequency of the moving object is higher, the estimated position of the moving object so that the moving object is present at a position with a high probability;
an updating unit configured to update the presence probability information based on at least one of the estimated position of the moving object and an action of the moving object, whereinthe position correction unit corrects the estimated position of the moving object based on the updated presence probability information,in a case of updating the presence probability information based on the estimated position of the moving object, the updating unit updates the presence probability information by increasing the probability indicated as the presence probability information corresponding to the estimated position of the moving object, andthe updating unit updates the presence probability information by calculating a path on which the moving object passes from the position of the moving object estimated during an arbitrary period and ascending the presence probability information corresponding to a position at which the moving object is present on the calculated path.
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Abstract
According to an embodiment, a position detection device includes a position estimation unit and a position correction unit. The position estimation unit is configured to estimate a position of a moving object based on an absolute position of the moving object and a position change of the moving object obtained from autonomous navigation. The position correction unit is configured to correct, based on presence probability information which is information on each of a plurality of regions and indicates a higher probability as a presence frequency of the moving object is higher, the estimated position of the moving object so that the moving object is present at a position with a high probability.
12 Citations
6 Claims
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1. A position detection device comprising:
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a position estimation unit, implemented as processing circuitry, configured to estimate a position of a moving object based on an absolute position of the moving object and a position change of the moving object obtained from autonomous navigation; a position correction unit configured to correct, based on presence probability information which is information on each of a plurality of regions and indicates a higher probability as a presence frequency of the moving object is higher, the estimated position of the moving object so that the moving object is present at a position with a high probability; an updating unit configured to update the presence probability information based on at least one of the estimated position of the moving object and an action of the moving object, wherein the position correction unit corrects the estimated position of the moving object based on the updated presence probability information, in a case of updating the presence probability information based on the estimated position of the moving object, the updating unit updates the presence probability information by increasing the probability indicated as the presence probability information corresponding to the estimated position of the moving object, and the updating unit updates the presence probability information by calculating a path on which the moving object passes from the position of the moving object estimated during an arbitrary period and ascending the presence probability information corresponding to a position at which the moving object is present on the calculated path. - View Dependent Claims (2, 3, 4)
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5. A position detection method comprising:
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estimating, by processing circuitry, a position of a moving object based on an absolute position of the moving object and a position change of the moving object obtained from autonomous navigation; correcting, based on presence probability information which is information on each of a plurality of regions and indicates a higher probability as a presence frequency of the moving object is higher, the estimated position of the moving object so that the moving object is present at a position with a high probability; updating the presence probability information based on at least one of the estimated position of the moving object and an action of the moving object, wherein the estimated position of the moving object is corrected based on the updated presence probability information, in a case of updating the presence probability information based on the estimated position of the moving object, the presence probability information is updated by increasing the probability indicated as the presence probability information corresponding to the estimated position of the moving object, and the presence probability information is updated by calculating a path on which the moving object passes from the position of the moving object estimated during an arbitrary period and ascending the presence probability information corresponding to a position at which the moving object is present on the calculated path.
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6. A computer program product comprising a non-transitory computer-readable medium containing a position detection program, the program causing a computer to perform:
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estimating a position of a moving object based on an absolute position of the moving object and a position change of the moving object obtained from autonomous navigation; correcting, based on presence probability information which is information on each of a plurality of regions and indicates a higher probability as a presence frequency of the moving object is higher, the estimated position of the moving object so that the moving object is present at a position with a high probability; updating the presence probability information based on at least one of the estimated position of the moving object and an action of the moving object, wherein the estimated position of the moving object is corrected based on the updated presence probability information, in a case of updating the presence probability information based on the estimated position of the moving object, the presence probability information is updated by increasing the probability indicated as the presence probability information corresponding to the estimated position of the moving object, and the presence probability information is updated by calculating a path on which the moving object passes from the position of the moving object estimated during an arbitrary period and ascending the presence probability information corresponding to a position at which the moving object is present on the calculated path.
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Specification