To provide a technique capable of improving the accuracy of the movement amount of a moving body.SOLUTION: In a movement amount estimation device 20, a first movement amount calculation unit 21 calculates a first movement amount 21a based on rotation speed of wheels. A vector detection unit 22 detects a movement vector 22v using feature points 22c extracted from a captured image 7. A second movement amount calculation unit 23 calculates a second movement amount 23a using the movement vector 22v. A first reliability determination unit 24 determines a reliability degree 21b of the first movement amount 21a based on at least one of a variation of the rotation speed and a result of comparing the first movement amount 21a with the second movement amount 23a. A second reliability determination unit 25 determines a reliability degree 23b of the second movement amount 23a based on a variation in the movement vector 22v. Based on the reliability degrees 21b and 23b, a movement amount determination unit 26 determines a movement amount based on at least one of the first movement amount 21a and the second movement amount 23a.SELECTED DRAWING: Figure 3

    【課題】移動体の移動量の精度を向上させることができる技術を提供することを課題とする。【解決手段】移動量算出装置20において、第1移動量算出部21は、車輪の回転速度に基づいて、第1移動量21aを算出する。ベクトル検出部22は、撮影画像7から抽出した特徴点22cを用いて移動ベクトル22vを検出する。第2移動量算出部23は、移動ベクトル22vを用いて第2移動量23aを算出する。第1信頼度決定部24は、回転速度のばらつきと、第1移動量21aを第2移動量23aと比較した結果との少なくとも一方に基づいて、第1移動量21aの信頼度21bを決定する。第2信頼度決定部25は、移動ベクトル22vのばらつきに基づいて、第2移動量23aの信頼度23bを決定する。移動量決定部26は、信頼度21b及び23bに基づいて、第1移動量21a及び第2移動量23aの少なくとも一方に基づく移動量を決定する。【選択図】図3


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    Title :

    MOVEMENT AMOUNT CALCULATION DEVICE


    Additional title:

    移動量算出装置


    Contributors:

    Publication date :

    2020-08-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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