To provide a vehicle position estimation apparatus configured to easily and accurately estimate a position of a vehicle from image information using machine learning to provide a position and attitude of the vehicle accurately on a world coordinate system.SOLUTION: A vehicle position estimation apparatus includes: an image acquisition unit which acquires image information from an imaging unit that can image a marker indicating a current position of a vehicle, the marker projected from a projection unit disposed on the vehicle existing in a detection target area toward a road surface on which the vehicle can travel; a detection unit which detects, from estimation image information, an estimation marker for estimating a position of the vehicle based on a comparison between a trained model and a marker, the trained model obtained by machine learning on a relationship between a learning marker serving as a marker included in the image information and a marker mode and position of the learning marker projected on the road surface, the marker included in the estimation image information acquired by the image acquisition unit in a process of estimating a position of the vehicle; and a processing unit which converts a position of the estimation marker into a position on a world coordinate system to estimate the position of the vehicle on the world coordinate system.SELECTED DRAWING: Figure 6

    【課題】機械学習を用いて画像情報から車両の位置をより容易かつ正確に推定して、世界座標系上で正確に車両の位置や姿勢を提供することを可能にする、車両位置推定装置を提供する。【解決手段】車両位置推定装置は、検出対象領域に存在する車両に設けられた投影部から車両が走行可能な路面に向けて投影される車両の現在位置を示すマーカを撮像可能な撮像部からの画像情報を取得する画像取得部と、画像情報に含まれるマーカとしての学習用マーカと当該学習用マーカが路面に投影された場合のマーカ態様及び位置との関係を機械学習した結果としての学習済モデルと、画像取得部が車両の位置推定段階で取得した推定用の画像情報に含まれるマーカとの比較に基づき車両の位置を推定するための推定用マーカを推定用の画像情報から検出する検出部と、推定用マーカの位置を世界座標系における位置に変換して、車両の位置を世界座標系上で推定する処理部と、を含む。【選択図】図6


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    Title :

    VEHICLE POSITION ESTIMATION APPARATUS


    Additional title:

    車両位置推定装置


    Contributors:

    Publication date :

    2023-07-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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