MOBILE POSITION/ATTITUDE ANGLE ESTIMATION DEVICE AND MOBILE POSITION/ATTITUDE ANGLE ESTIMATION METHOD

摘要

PROBLEM TO BE SOLVED: To accurately estimate a position and an attitude angle of a moving body even in the case where an edge is present eccentrically.;SOLUTION: A mobile position/attitude angle estimation device 10 includes an evaluation value correction part 25 for correcting an evaluation value that is set to an evaluation point on a projection image. The evaluation value correction part 25 corrects the evaluation value so as to increase the evaluation value by extracting a pair of edges which cross each other in different directions, from among edges which are set on the projection image, comparing a total sum of lengths of first direction components of all the edges on the projection image with a total sum of lengths of second direction components, and increasing the number of evaluation points on the edge turned in a direction where the total sum of lengths is small, in the pair of edges.;COPYRIGHT: (C)2015,JPO&INPIT