To highly precisely estimate a borderline of a course even when the course exhibits a gradient change.SOLUTION: A borderline candidate extraction unit 142 extracts plural borderline candidate points, which are linearly lined, from an image of a course, along which a moving entity runs, taken by an imaging device 110 mounted on the moving entity. A course parameter estimation unit 144 estimates a state vector, which includes distances in a real space of at least one of the plural borderline candidate points regarded as observation values to the other borderline candidate points, a parameter relating to the line shape of a borderline, and an offset angle and posture angle of the moving entity with respect to the borderline, by minimizing an error between the borderline candidate point and a predictive point projected on the image on the basis of the state vector.SELECTED DRAWING: Figure 3

    【課題】走路に勾配変化がある場合であっても、精度良く走路の境界線を推定することができるようにする。【解決手段】境界線候補点抽出部142が、移動体に搭載された撮像装置110によって撮像された移動体の走行する走路の画像から、線状に並んだ複数の境界線候補点を抽出し、走路パラメータ推定部144が、複数の境界線候補点を観測値として、少なくとも1つの境界線候補点の各々までの実空間上の距離と、境界線の線形に関するパラメータと、境界線に対する移動体のオフセット、及び姿勢角とを含む状態ベクトルを境界線候補点と状態ベクトルから画像上へ投影した予測点との間の誤差を最小化して推定する。【選択図】図3


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    Title :

    COURSE ESTIMATION SYSTEM AND PROGRAM


    Additional title:

    走路推定装置及びプログラム


    Contributors:

    Publication date :

    2019-06-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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