POINT GROUP MATCHING METHOD WITH CORRESPONDENCE TAKEN INTO ACCOUNT, POINT GROUP MATCHING DEVICE WITH CORRESPONDENCE TAKEN INTO ACCOUNT, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To enable a self-position to be estimated with high accuracy without misdetection even when a corresponding point is not given in comparing a captured image with a map.SOLUTION: The present invention turns the center or gravity or the center of a feature point in an image obtained by imaging into a point group, acquires a triangle from the point group, and, while excluding an almost line-symmetrical triangle from the acquired triangle, calculates the degree of coincidence in shape with a triangle formed by a point group in a previously prepared map. When a candidate whose degree of coincidence is greater than or equal to a threshold (for example, a difference in the angle and length of side of the triangle is less than or equal to a threshold) is detected, the relative physical relation of a plurality of candidate triangles present in an area to be searched is compared with the triangle in the map, and when there is a candidate triangle that satisfies a pairing determination requirement, a matching process is executed on each point constituting the candidate triangle that satisfies the pairing determination requirement with the point group in the map and a matching process for finding the coordinates of the image is executed.SELECTED DRAWING: Figure 8