Compilation method and system in interior environmental map

摘要

Drawing up the interior environmental map as for the method when the portable moves, making use of the encoder, revolution of the wheel it is detected by the fact that, it is encoded, acquiring the information of the position where the description above it is encoded on the basis of the information of the position where estimate the position of the aforementioned portable making use of stage and the range measurement sensor which from the aforementioned portable exists inside around environment acquire the measurement distance to the object which at estimate position of stage and estimate the portable position of the aforementioned portable stage and the aforementioned portable which presume the distance to the aforementioned object from the aforementioned portable stage and the aforementioned presumption distance which the aforementioned measurement distanceIf stage and the aforementioned estimated position which are judged whether it matches, match with the aforementioned measurement position, the stage which draws up the aforementioned interior environmental map with the stage which revises the estimate position of aforementioned portable and making use of the aforementioned revision position and the aforementioned measurement distance it includes.