DEVICE FOR ESTIMATING POSITION OF MOVING BODY AND METHOD FOR ESTIMATING POSITION OF MOVING BODY

摘要

The present invention addresses the problem of reducing the processing load involved in estimating the position of a moving body. An upward-oriented camera is mounted to a top part of a moving body (10) and an image of a periphery of the moving body is captured (fig. 2(a)). A map management unit (114) associates coordinates of a feature point (P) extracted from the image taken of a peripheral environment with a map and manages the coordinates. A feature point tracking unit tracks a predetermined feature point (TP) selected by a predetermined reference from among feature points extracted from an image taken by an imaging unit (TG1, TG2, TG3). A feature point number management unit performs management so that the number of predetermined feature points tracked by the feature point tracking unit is a prescribed number (TG3a). A position can be estimated from the coordinates of the predetermined feature point tracked by the feature point tracking unit and the map managed by the map management unit.