SYSTEM AND METHOD FOR USING GRAPH-BASED MAP INFORMATION AS PRE-DISTRIBUTION FOR POSITION SPECIFICATION USING PARTICLE FILTER, COMPUTER-IMPLEMENTED METHOD, PROGRAM, AND SYSTEM

摘要

PROBLEM TO BE SOLVED: To provide a system and a method with which accurate position specification can be performed from sensor measurements with a lot of noises.;SOLUTION: A system is formed of a central processing unit, a position specification signal receiver, a plurality of sensors separated from the position specification signal receiver and different therefrom, and a memory. The central processing unit is used to initialize a plurality of particles on the basis of information on a map graph. A particle filter loop executes update of the plurality of particles to execute update of measurements of the plurality of particles, and executes re-sampling of the plurality of particles on the basis of particle importance weight and the map graph information. The position of the system is substantially determined on the basis of the plurality of particles.;SELECTED DRAWING: Figure 5;COPYRIGHT: (C)2019,JPO&INPIT