Self-position estimation device and method

A control method, comprising:

• activating, in a count mode, a plurality of cameras;
• controlling, in the count mode, the plurality of cameras to capture a first plurality of images;
• selecting at least a first camera of the plurality of cameras as an activation camera for a self-position estimation process, wherein the first camera is selected as the activation camera based on the captured first plurality of images;
• switching from the count mode to a sleep mode based on the selection;
• activating, in the sleep mode, the activation camera based on the selection of the first camera as the activation camera;
• deactivating, in the sleep mode, the plurality of cameras other than the activation camera based on the selection;
• controlling, in the sleep mode, the activation camera to capture at least one image;
• executing the self-position estimation process based on the at least one image;
• switching from the sleep mode to the count mode after a specific time interval;
• controlling the plurality of cameras to capture a second plurality of images based on the switch from the sleep mode to the count mode;
• and
• selecting at least a second camera of the plurality of cameras as the activation camera for the self-position estimation process, wherein the second camera is selected as the activation camera based on the captured second plurality of images.

A non-transitory computer-readable medium, having stored thereon computer-executable instructions, which when executed by a processor, cause the processor to execute operations, the operations comprising:

• activating, in a count mode, a plurality of cameras;
• controlling, in the count mode, the plurality of cameras to capture a first plurality of images;
• selecting at least a first camera of the plurality of cameras as an activation camera for a self-position estimation process, wherein the first camera is selected as the activation camera based on the captured first plurality of images;
• switching from the count mode to a sleep mode based on the selection;
• activating, in the sleep mode, the activation camera based on the selection of the first camera as the activation camera;
• deactivating, in the sleep mode, the plurality of cameras other than the activation camera based on the selection;
• controlling, in the sleep mode, the activation camera to capture at least one image;
• executing the self-position estimation process based on the at least one image;
• switching from the sleep mode to the count mode after a specific time interval;
• controlling the plurality of cameras to capture a second plurality of images based on the switch from the sleep mode to the count mode;
• and
• selecting at least a second camera of the plurality of cameras, as the activation camera for the self-position estimation process, wherein the second camera is selected as the activation camera based on the captured second plurality of images.