A method for estimating a position of a moving body based on a graph structure and a moving body using the same

摘要

PROBLEM TO BE SOLVED: To provide a method of estimating a position of a moving body based on a graph structure and a moving body using the same. A graph structure-based method for estimating a position of a moving body according to an embodiment of the present invention uses a plurality of sensors to generate sensing data according to the movement of the moving body, and a sensing step according to a reference period. Generating nodes, setting constraint conditions between nodes in sensing data synchronized with the reference period to generate a graph structure. Graph structure generation step, asynchronous sensing of sensing data that is not synchronized with the reference period. When the data is input, the method includes a graph structure modifying step of modifying the graph structure using the asynchronous sensing data, and a position estimating step of generating position information of the moving body using the graph structure. [Selection diagram]