Control device
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsKeigo Ikeda, Yasuhiro Saito, Daiki Yokoyama
Life of this patent
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Abstract
A control device is configured to generate a control command for controlling a movable body, using three-dimensional point cloud data about the movable body that is measured using a distance measurement device, the control device including: a range specification unit configured to specify a use range that is a range including only some of the three-dimensional point cloud data; and an estimation unit configured to estimate at least one of the position and orientation of the movable body, using the three-dimensional point cloud data in the use range.
Claims5
A control device configured to generate a control command for controlling a movable body, using three-dimensional point cloud data about the movable body that is measured using a distance measurement device, the control device comprising:
- a communication interface configured to communicate with the distance measurement device and the moveable body;
- and
- a processor programmed to:
- specify a use range that is a range including only some of the three-dimensional point cloud data, the use range being specified so as to include a characteristic portion in an observation region of the movable body, the observation region being a region where the movable body is observable by the distance measurement device, the characteristic portion being a portion where a density of a characteristic quantity is higher than an average value in the observation region;
- and
- estimate at least one of a position and orientation of the movable body, using the three-dimensional point cloud data in the specified use range.
A control device configured to generate a control command for controlling a movable body, using three-dimensional point cloud data about the movable body that is measured using a distance measurement device, the control device comprising:
- a communication interface configured to communicate with the distance measurement device and the moveable body;
- and
- a processor programmed to:
- specify a use range that is a range including only some of the three-dimensional point cloud data;
- and
- estimate at least one of a position and orientation of the movable body, using the three-dimensional point cloud data in the specified use range,
- wherein the use range is specified when a processing load on the control device is larger than a previously set reference value, and is not specified when the processing load is equal to or smaller than the reference value.
Dependencies are inferred from the claim text.