While the environmental map generating program, autonomy moving inside environmental map

摘要

PROBLEM TO BE SOLVED: To stably predict a position of a mobile body and a shape of environment.;SOLUTION: A velocity variance model prediction generation means 12 reads previous prediction positions and variance of prediction errors of measurement points of an object from a storage means 11. By applying a velocity variance model to calculate velocity variance added prediction values of the variance among the prediction positions and the prediction errors of the measurement points. A first current position prediction means 13 calculates the prediction values of the variance of current positions/attitudes and prediction errors of the mobile body by using the velocity variance added prediction values of the variance of the prediction positions and the prediction errors of the measurement points and three-dimensional measurement values of the measurement points. According to the variance of the calculated current positions/attitudes and the prediction errors of the mobile body, the variance of the estimation positions and the estimation errors of the measurement points are updated.;COPYRIGHT: (C)2010,JPO&INPIT