公开(公告)号：US20220309698A1

公开(公告)日：2022-09-29

申请号：US17597160

申请日：2020-07-01

Applicant: SONY GROUP CORPORATION

Inventor： YUSUKE TAKAHASHI ,  DAI KOBAYASHI ,  RYO WATANABE ,  MASATAKA TOYOURA

IPC: G06T7/70 ,  B64C39/02

Abstract: Provided is a self-position estimation mechanism that can absorb the influence of resetting of a position estimator.
A difference between a position for each epoch and a position of a previous epoch estimated by a first estimation unit using a camera image and IMU information and a velocity and an acceleration for each epoch estimated by a second estimation unit using the camera image and the IMU information are acquired. Whether the difference acquired for each epoch is an outlier is tested on the basis of a threshold and whether the velocity and acceleration acquired for each epoch is an outlier is tested on the basis of a threshold. A self-position is estimated using the difference for each epoch and the velocity and acceleration for each epoch after the outlier is removed.

公开(公告)号：US20220244401A1

公开(公告)日：2022-08-04

申请号：US17623813

申请日：2020-07-01

Applicant: SONY GROUP CORPORATION

Inventor： YUSUKE TAKAHASHI ,  MASATAKA TOYOURA ,  RYO WATANABE

IPC: G01S19/22 ,  G01C21/20 ,  G05D1/10

Abstract: The influence of multipath on the positioning calculation based on positioning signals transmitted from satellites is reduced. A self-position is estimated using a positioning calculation result based on a positioning signal transmitted from a satellite. Movement of a mobile body is controlled on the basis of the estimated self-position. A multipath reduction action signal is output when the mobile body is in a multipath environment. The mobile body is controlled so as to take a multipath reduction action when the mobile body is in a predetermined movement state and the multipath reduction action signal is output.