Three-dimensional map estimation apparatus and obstacle detection apparatus

A three-dimensional map estimation apparatus, comprising:

• an interface connectable to a plurality of cameras;
• a processor configured to:
• select at least one camera from the plurality of cameras from which to receive, via the interface, images of the surroundings of a moving object;
• estimate a position and orientation for the moving object using images from each selected camera in the plurality of cameras and output first position and orientation estimation results based on images from each selected imaging apparatus;
• calculate a second position and orientation estimation result indicating an estimated position and orientation for the moving object, the second position and orientation estimation result being calculated using the first position and orientation estimation results;
• and
• estimate three-dimensional maps for the surroundings of the moving object based on the images from each camera in the plurality of cameras and the second position and orientation estimation result.

A moving object, comprising:

• a plurality of cameras;
• a processor connected to the plurality of cameras and configured to:
• select at least one camera from the plurality of cameras from which to receive images;
• estimate a position and orientation for the moving object using images from each selected camera in the plurality of cameras and output first position and orientation estimation results based on images from each selected imaging apparatus;
• calculate a second position and orientation estimation result indicating an estimated position and orientation for the moving object, the second position and orientation estimation result being calculated using the first position and orientation estimation results;
• and
• estimate three-dimensional maps for the surroundings of the moving object based on the images from each camera in the plurality of cameras and the second position and orientation estimation result.