MAP CREATING SYSTEM AND MAP CREATING METHOD FOR AUTONOMOUS MOVING APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a map creating system and map creating method for autonomous moving apparatus, which easily and accurately creates a map, wherein each partial area is in alignment even with an operation area along a loop-like migration path.;SOLUTION: The map creating system 1 comprises an input means 2, a storage means 3, and a map information editing means 4 editing map information to create a map for moving. The map for moving is created as an aggregate of partial maps having at least one feature point set for each of multiple partial areas constituting the operation area of an autonomous moving apparatus. Mutual arrangements of partial maps are determined on the basis of mutual positional relationships of feature points under actual measurement and stored in the storage means 3, and a condition of constraint determining the arrangements of feature points are stored in the storage means 3. Thus, the map information editing means 4 updates, by using the condition of constraint, the relative positional relationship between feature points, and creates a map for moving, wherein partial maps are mutually combined according to the updated positional relationships.;COPYRIGHT: (C)2009,JPO&INPIT