Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Automatic route guidance vehicle
Reexamination Certificate
2011-01-18
2011-01-18
Beaulieu, Yonel (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Automatic route guidance vehicle
C701S207000, C701S300000
Reexamination Certificate
active
07873447
ABSTRACT:
The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.
REFERENCES:
patent: 5592401 (1997-01-01), Kramer
patent: 2006-011880 (2006-01-01), None
Gary Welch et al., “An Introduction to the Kalman Filter”, Technical Report 95-041, Department of Computer Science, University of North Carolina, Chapel Hill, Jul. 24, 2006.
Andrew J. Davis, “Real-Time Simultaneous Localisation and Mapping with a Single Camera”, Proceedings of the 9thIEEE International Conference on Computer Vision, 2003.
Fujita Masahiro
Fukuchi Masaki
Gutmann Steffen
Oi Kenichiro
Yoshigahara Takayuki
Beaulieu Yonel
Finnegan Henderson Farabow Garrett & Dunner L.L.P.
Sony Corporation
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