Self position estimation model learning method, self position estimation model learning device, self position estimation model learning program, self position estimation method, self position estimation device, self position estimation program, and robot

摘要

The self position of the self position estimation object can be estimated even in the dynamic environment which is difficult to estimate the position of the self position estimation object.Self position estimation model learning device 10A local image taken from a viewpoint of a self position estimation in a dynamic environmentAn aerial view image taken from the position where the self position estimation object is viewed from the viewpointAn aerial view image synchronized with the local imageAnd fetch section 30 to retrieve in time seriesThe local image and the aerial view acquired in the time series are input.A learning unit 32 which learns a self position estimation model which outputs the position of the object to be estimated.Diagram