moving object position and orientation estimation apparatus and a mobile object position and orientation estimation method

摘要

moving object position and orientation estimation apparatus includes an imaging unit 2, and the contrast image acquisition unit , and the likelihood setting section 12, I and a moving object position and orientation estimator 13. The imaging section 2, a surrounding moving objects by imaging, acquires a captured image. Contrast image acquiring unit acquires a contrast image when viewed from a predetermined position and attitude angle. The likelihood setting unit 12 compares the contrast image and the captured image is set high posture angle likelihood of contrasting images in the case where the distant position pixel in the contrast image and the distant location of pixels in the captured image matches , it is set higher position likelihood of contrasting images in the case where the vicinity pixel in the contrast image and the vicinity pixel in the captured image is matched. Moving object position and orientation estimation unit 13 estimates an attitude angle of the moving object based on the attitude angle of the contrast image with the posture angle likelihood is set higher, based on the position of the set contrasted images high position likelihood I estimate the position of the moving object.