A moving-object position/attitude estimation apparatus includes an image-capturing unit 2, a comparative image acquiring unit, a likelihood setting unit 12, and a moving-object position/attitude estimation unit 13. The image-capturing unit 2 acquires a captured image by capturing an image of surroundings of a moving object. The comparative image acquiring unit acquires a comparative image viewed from a predetermined position at a predetermined attitude angle. The likelihood setting unit 12 compares the captured image and the comparative image, assigns a high attitude angle likelihood to the comparative image in the case where a distant-position pixel in the captured image matches a distant-position pixel in the comparative image, and assigns a high position likelihood to the comparative image in the case where a proximal-position pixel in the captured image matches a proximal-position pixel in the comparative image. The moving-object position/attitude estimation unit 13 estimates the attitude angle of the moving object based on the attitude angle of the comparative image assigned the high attitude angle likelihood, and estimates the position of the moving object based on the position of the comparative image assigned the high position likelihood.
MOVING-OBJECT POSITION/ATTITUDE ESTIMATION APPARATUS AND METHOD FOR ESTIMATING POSITION/ATTITUDE OF MOVING OBJECT
POSITIONS-/AUSRICHTUNGSSCHÄTZUNGSVORRICHTUNG FÜR EIN BEWEGLICHES OBJEKT UND VERFAHREN ZUR SCHÄTZUNG DER POSITION/AUSRICHTUNG EINES BEWEGLICHEN OBJEKTS
APPAREIL D'ESTIMATION DE POSITION/ATTITUDE D'OBJET MOBILE ET PROCÉDÉ D'ESTIMATION DE POSITION/ATTITUDE D'OBJET MOBILE
2017-05-17
Patent
Electronic Resource
English
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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