Self-location estimation device, autonomous mobile body, and self-location estimation method

A self-location estimation method comprising:

• in a self-location estimation device:
• receiving current image information from one or more image sensors of an autonomous mobile body, wherein the autonomous mobile body is movable in a real space;
• estimating a current first self-location of the autonomous mobile body based on the current image information and environmental map information, wherein
• the environmental map information includes a plurality of pairs of past image information acquired in past by the one or more image sensors, feature data of the plurality of pairs of the past image information, and a past self-location of the autonomous mobile body at a time of the acquisition of each of the plurality of pairs of the past image information,
• the plurality of pairs of the past image information, the feature data, and the past self-location of each of the plurality of pairs of the past image information are associated on a map in the environmental map information, and
• the feature data corresponds to feature points of the plurality of pairs of the past image information;
• estimating a current second self-location of the autonomous mobile body based on the current image information and a learned parameter, wherein the learned parameter is based on the environmental map information;
• and
• integrating the current first self-location and the current second self-location to estimate a third current self-location of the autonomous mobile body.

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:

• receiving current image information from one or more image sensors of an autonomous mobile body, wherein the autonomous mobile body is movable in a real space;
• estimating a current first self-location of the autonomous mobile body based on the current image information and environmental map information, wherein
• the environmental map information includes a plurality of pairs of past image information acquired in past by the one or more image sensors, feature data of the plurality of pairs of the past image information, and a past self-location of the autonomous mobile body at a time of the acquisition of each of the plurality of pairs of the past image information,
• the plurality of pairs of the past image information, the feature data, and the past self-location of each of the plurality of pairs of the past image information are associated on a map in the environmental map information, and
• the feature data corresponds to feature points of the plurality of pairs of the past image information;
• estimating a current second self-location of the autonomous mobile body based on the current image information and a learned parameter, wherein the learned parameter is based on the environmental map information;
• and
• integrating the current first self-location and the current second self-location to estimate a third current self-location of the autonomous mobile body.