SELF-POSITION ERROR ESTIMATION DEVICE AND SELF-POSITION ERROR ESTIMATION METHOD

摘要

PROBLEM TO BE SOLVED: To provide a self-position error estimation device and a self-position error estimation method capable of estimating a recognition error of a self position due to a vehicle attitude by using an image outside the vehicle imaged by an on-vehicle camera.;SOLUTION: A self-position error estimation device includes: image acquisition means for acquiring an image caught by imaging means mounted on a vehicle; a self-position calculation means for calculating a self position on the basis of the position of a feature point on the image; data acquisition means for acquiring information of a vehicle roll angle and the height of the imaging means; and error estimation means for estimating an error amount of the self position calculated by the self-position calculation means on the basis of the vehicle roll angle and the height of the imaging means.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2019,JPO&INPIT