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

A self-position estimation model learning device (10) includes: an acquisition unit (30) that acquires, in time series, a local image captured from a viewpoint of a self-position estimation subject in a dynamic environment, and a bird's-eye view image which is captured from a location overlooking the self-position estimation subject and is synchronized with the local image; and a learning unit (32) for learning a self-position estimation model that takes the local image and the bird's-eye view image acquired in time series as input, and outputs the position of the self-position estimation subject.