Method and apparatus for generating magnetic field map and method and apparatus for checking pose of mobile body using the magnetic field map
US7302345B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 18, 2005 |
| Grant date | Nov 27, 2007 |
| Priority date | — |
| Expiry date | Dec 23, 2025 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0274
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Provided is a method of generating a magnetic field map including obtaining magnetic field information, the magnetic field information being information on a magnetic field affecting a mobile body, for each position of the mobile body, and building a magnetic field map based on the magnetic field information for each position of the mobile body. The pose of a mobile body can be statistically checked by the probability obtained using the difference between the magnetic field information observed from the magnetic field map and the actually measured magnetic field information. Although the pose of the mobile body is estimated using a camera that is sensitive to an illumination state where the mobile body is placed, the pose of the mobile body can be relatively accurately checked using the magnetic field map obtained in a situation regardless of illumination, with being less affected by the illumination state where the mobile body is placed. Thus, the pose of the mobile body can be checked with reliability.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.