MOVING-OBJECT POSITION/ATTITUDE ESTIMATION APPARATUS AND METHOD FOR ESTIMATING POSITION/ATTITUDE OF MOVING OBJECT

摘要

A moving-object position/attitude estimation apparatus includes an image-capturing unit 2, a comparative image acquiring unit, a likelihood setting unit 12, and a moving-object position/attitude estimation unit 13. The image-capturing unit 2 acquires a captured image by capturing an image of surroundings of a moving object. The comparative image acquiring unit acquires a comparative image viewed from a predetermined position at a predetermined attitude angle. The likelihood setting unit 12 compares the captured image and the comparative image, assigns a high attitude angle likelihood to the comparative image in the case where a distant-position pixel in the captured image matches a distant-position pixel in the comparative image, and assigns a high position likelihood to the comparative image in the case where a proximal-position pixel in the captured image matches a proximal-position pixel in the comparative image. The moving-object position/attitude estimation unit 13 estimates the attitude angle of the moving object based on the attitude angle of the comparative image assigned the high attitude angle likelihood, and estimates the position of the moving object based on the position of the comparative image assigned the high position likelihood.