A driving assist device acquires information from an imaging device and a ranging device and performs a process to assist driving of an automobile. A position or orientation estimation apparatus includes an image data plane detection unit configured to detect a plurality of plane regions from image information and first ranging information obtained by the imaging device ant a ranging data plane detection unit configured to detect a plurality of plane regions from second ranging information obtained by the ranging device. A position or orientation estimation unit estimates relative positions and orientations between the imaging device and the ranging device by performing alignment using a first plane region detected by the image data plane detection unit and a second plane region detected by the ranging data plane detection unit.
POSITION OR ORIENTATION ESTIMATION APPARATUS, POSITION OR ORIENTATION ESTIMATION METHOD, AND DRIVING ASSIST DEVICE
2018-09-27
Patent
Electronic Resource
English
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