MOBILE ENTITY POSITION ESTIMATION DEVICE, MOBILE ENTITY POSITION ESTIMATION METHOD, AND MOBILE ENTITY POSITION ESTIMATION PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a mobile entity position estimation device with which it is possible to perform highly accurate position estimation.SOLUTION: An acquisition unit 10 acquires information that includes first data 11a pertaining to a first image 11 and second data 12a pertaining to a second image 12 including a difference with the first image 11 due to the movement of a mobile entity. A processing unit 20 estimates the direction of rotation due to the movement on the basis of the information; detects a plurality of first feature points in the first region r1 of the first image and a plurality of second feature points in the second region r2 of the first image, on the basis of the direction of rotation; raises the first density of the plurality of first feature points in the first region r1 over the second density of the plurality of second feature points in the second region r2 and finds a plurality of first correspondence points in a third region r3 of the second image, each of the plurality of first correspondence points corresponding to at least one of the plurality of first feature points; and estimates a change in the position of the mobile entity on the basis of each of the plurality of first feature points and each of the plurality of first correspondence points.SELECTED DRAWING: Figure 1