NAVIGATION DEVICE, VSLAM CORRECTION METHOD, SPATIAL INFORMATION ESTIMATING METHOD, VSLAM CORRECTION PROGRAM, AND SPATIAL INFORMATION ESTIMATING PROGRAM

摘要

[Problem] To calculate with a high degree of accuracy an absolute positional relationship between a host device and another feature point or the like, while employing visual simultaneous localization and mapping (VSLAM).[Solution] A navigation device 10 is provided with a VSLAM computing unit 121, a GNSS speed calculating unit 122, and a scale correction value calculating unit 123. The GNSS speed calculating unit 122 calculates a GNSS speed using an amount of change in the phase of a GNSS signal or an amount of change in the frequency of the GNSS signal. The VSLAM computing unit 121 performs a VSLAM computation using a moving image to estimate a VSLAM position at a plurality of time points. The scale correction value calculating unit 123 uses the VSLAM positions at at least two time points among the plurality of time points, estimated by the VSLAM computing unit 121, and the GNSS speed, to calculate a scale correction value for the VSLAM positions.