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US 11,386,574 B2Granted
Self-position estimation device, self-position estimation method, and program thereof
AssigneeSony Corporation
InventorJun Gomita
Life of this patent
Estimating the term…
Abstract
A self-position estimation device includes: a position estimation unit. The position estimation unit is configured to estimate a self-position on the basis of image frames that have been captured at the same time in a constant period by imaging units, and estimate a self-position on the basis of image frames that have been captured at different times in the constant period by at least one of the imaging units.
Claims13
A self-position estimation device, comprising:
- an imaging control unit configured to control imaging time of two imaging units such that one of the two imaging units perform imaging at a first imaging frame rate and another of the two imaging units perform imaging at a second imaging frame rate different than the first imaging frame rate;
- and
- a position estimation unit configured to
- estimate a first self-position on a basis of image frames that have been captured at a same time in a constant period by the two imaging units, and
- estimate a second self-position on a basis of image frames that have been captured at times in the constant period by one of the two imaging units and image frames that have been captured by individual imaging unit actuation at other times in the constant period by another of the two imaging units, each of the other times being different than each of the times, wherein
- the estimation of the second self-position on the basis of the image frames that have been captured at different times in the constant period include only utilizing image frames that have been captured at times in the constant period at which only one of the two imaging units perform imaging, and
- the imaging control unit and the position estimation unit are each implemented via at least one processor.
4 more elements
A self-position estimation method, comprising:
- controlling imaging time of two imaging units such that one of the two imaging units perform imaging at a first imaging frame rate and another of the two imaging units perform imaging at a second imaging frame rate different than the first imaging frame rate;
- estimating a first self-position on a basis of image frames that have been captured at a same time in a constant period by the two imaging units;
- and
- estimating a second self-position on a basis of image frames that have been captured at times in the constant period by one of the two imaging units and image frames that have been captured by individual imaging unit actuation at other times in the constant period by another of the two imaging units, each of the other times being different than each of the times, wherein
- the estimation of the second self-position on the basis of the image frames that have been captured at different times in the constant period include only utilizing image frames that have been captured at times in the constant period at which only one of the two imaging units perform imaging.
2 more elements
A non-transitory computer-readable medium having embodied thereon a program, which when executed by a computer causes the computer to execute a self-position estimation method, the method comprising:
- controlling imaging time of two imaging units such that one of the two imaging units perform imaging at a first imaging frame rate and another of the two imaging units perform imaging at a second imaging frame rate different than the first imaging frame rate;
- estimating a first self-position on a basis of image frames that have been captured at a same time in a constant period by the two imaging units;
- and
- estimating a second self-position on a basis of image frames that have been captured at times in the constant period by one of the two imaging units and image frames that have been captured by individual imaging unit actuation at other times in the constant period by another of the two imaging units, each of the other times being different than each of the times, wherein
- the estimation of the second self-position on the basis of the image frames that have been captured at different times in the constant period include only utilizing image frames that have been captured at times in the constant period at which only one of the two imaging units perform imaging.
2 more elements
Dependencies are inferred from the claim text.