AUTONOMOUS MOBILE DEVICE AND CURRENT LOCATION SELF-ESTIMATION METHOD

摘要

The purpose of the present invention is to provide an autonomous mobile device or the like which estimates its own current location on the basis of the location of landmarks in the surrounding environment while reducing the effect of disturbances. In order to achieve this purpose, there is provided an autonomous mobile device which is characterized by: extracting, from an image captured by a wide-angle camera, disturbance factors which cause disturbances when the autonomous mobile device estimates its own current location, and landmarks which are used for the location estimation; by using the extracted information and from an image captured by a positionally controllable standard camera, selecting landmarks that are not affected by the disturbance factors; controlling the position of the standard camera so as to track the selected landmarks; and estimating the current location of the autonomous mobile device on the basis of the location of landmarks, images of which are captured by the standard camera while the standard camera is positionally controlled to track the selected landmarks.