OCCUPANCY GRID MAP GENERATION DEVICE, PROGRAM AND OCCUPANCY GRID MAP GENERATION METHOD

• Main Authors: SHINODA NAOYA, MORI TAKAHITO, WADA MASAOMI
• Format: Patent
• Language: English; Japanese
• Published: 05.10.2023
• Subjects: CALCULATING; COMPUTING; CONTROLLING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

To generate an occupancy grid map suitable for the specification of an autonomous traveling robot.SOLUTION: An occupancy grid map generation device 100 includes: an acquisition unit 111 that is provided in an autonomous traveling robot having a function of generating an occupancy grid map 140 and acquires a resolution of a sensor for measuring a peripheral object and also acquires three-dimensional data 130 of a region in which the autonomous traveling robot travels; an error calculation unit 113 that obtains an error when a size of an object in the region indicated by the three-dimensional data 130 is calculated based on a grid dividing the region; a grid size calculation unit 112 that calculates a size of the grid in which the error is equal to or less than a predetermined value within a range of a detection resolution that is a resolution for detecting an object in the region by using the sensor; and a map generation unit 114 that generates an occupancy grid map in which a size of a grid of the occupancy grid map 140 is the size of the grid calculated by the grid size calculation unit 112.SELECTED DRAWING: Figure 1 【課題】自律走行型ロボットの仕様に合った占有格子地図の生成を可能とする。【解決手段】占有格子地図生成装置１００は、占有格子地図１４０の作成機能を有する自律走行ロボットに備わり、周辺のオブジェクトを測定するセンサの分解能と、自律走行ロボットが走行する領域の３次元データ１３０とを取得する取得部１１１と、３次元データ１３０に示される領域にあるオブジェクトの大きさを、領域を区切る格子を基に算出する際の誤差を求める誤差算出部１１３と、センサを用いて、領域にあるオブジェクトを検出する分解能である検出分解能の範囲内で、誤差が所定値以下である格子のサイズを算出する格子サイズ算出部１１２と、占有格子地図１４０の格子のサイズが、格子サイズ算出部１１２が算出した格子のサイズである占有格子地図を生成する地図生成部１１４とを備える。【選択図】図１