To measure a position of a flying body even when the flying body does not have a position measuring function or the accuracy of position measurement is low.SOLUTION: A position estimation device includes a processing unit that performs processing related to estimation of an existing position of a flying body. The processing unit acquires a plurality of captured images obtained by imaging the flying body with a plurality of imaging devices, acquires information on the arrangement position of each imaging device and an imaging direction of each imaging device, calculates an error score indicating an error between an assumed position where it is assumed that the flying body exists in the real space and the existing position of the flying body on the basis of the arrangement position of each imaging device, the imaging direction of each imaging device, each assumed position, and an image position where the flying body exists in each captured image, and estimates the existing position of the flying body in the real space on the basis of the error score.SELECTED DRAWING: Figure 2
【課題】飛行体が位置計測機能を有しない場合や位置計測の精度が低い場合でも、飛行体の位置を計測できることが望ましい。【解決手段】位置推定装置は、飛行体の存在位置の推定に関する処理を行う処理部を備える。処理部は、複数の撮像装置により飛行体が撮像された複数の撮像画像を取得し、各撮像装置の配置位置及び各撮像装置の撮像向きの情報を取得し、各撮像装置の配置位置と、各撮像装置の撮像向きと、実空間において飛行体が存在すると仮定された各仮定位置と、各撮像画像における飛行体が存在する画像位置と、に基づいて、各仮定位置と飛行体の存在位置との誤差を示す誤差スコアを算出し、誤差スコアに基づいて、実空間における飛行体の存在位置を推定する。【選択図】図2
POSITION ESTIMATION DEVICE, POSITION ESTIMATION METHOD, PROGRAM, AND RECORDING MEDIUM
位置推定装置、位置推定方法、プログラム、及び記録媒体
2020-05-07
Patent
Elektronische Ressource
Japanisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64C AEROPLANES , Flugzeuge / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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