Self-position estimation device
AssigneesDenso Corporation, Toyota Jidosha Kabushiki Kaisha, MIRISE Technologies Corporation
InventorAkira Tokuse
Life of this patent
Estimating the term…
Abstract
A self-position estimation device is adapted to a movable object having a camera and a communication device. The camera takes an image of surrounding of the movable object. The self-position estimation device includes a feature acquisition unit, a scale calculation unit, and a self-position estimation unit. The feature acquisition unit acquires an image feature point. The scale calculation unit calculates an actual scale of the image. The self-position estimation unit estimates a self-position of the movable object based on the image feature point and the actual scale. The scale calculation unit acquires object information and an object image feature point, and calculates the actual scale based on the acquired object information and a feature value of the acquired object image feature point.
Claims19
A self-position estimation device adapted to a movable object having a camera and a communication device, the camera configured to take an image of surrounding of the movable object, the self-position estimation device configured to estimate a self-position of the movable object, the self-position estimation device comprising:
- a feature acquisition unit configured to acquire an image feature point being a feature point existing in the image being taken by the camera;
- a scale calculation unit configured to execute calculation of an actual scale of the image;
- and
- a self-position estimation unit configured to estimate the self-position based on the image feature point and the actual scale, wherein
- the scale calculation unit is configured to execute the calculation by:
- acquiring object information related to an object existing in the image on condition that a distance between the object and the movable object is shorter than a predetermined distance, the object information being acquired by the communication device from an external device located at object;
- acquiring an object image feature point being the feature point included in the image feature point, the object image feature point being related to the object corresponding to the object information;
- and
- calculating the actual scale based on a feature value of the object image feature point and the object information.
A self-position estimation device adapted to a movable object having a camera and a communication device, the camera configured to take an image of surrounding of the movable object, the self-position estimation device configured to estimate a self-position of the movable object, the self-position estimation device comprising:
- at least one processor and at least one memory that stores instructions configured to, when executed by the at least one processor, cause the at least one processor to:
- acquire an image feature point as a feature point existing in the image being taken by the camera;
- estimate the self-position based on the image feature point and an actual scale of the image;
- execute calculation of an actual scale of the image;
- and
- estimate the self-position based on the image feature point and the actual scale;
- and
- execute calculation of the actual scale by
- acquiring object information by the communication device from an external device on condition that a distance between an object and the movable object is shorter than a predetermined distance, the object information being information related to the object existing in the image, the external device being located at the object;
- acquiring an object image feature point being a feature point included in the image feature point, the object image feature point being a feature point related to the object corresponding to the object information;
- and
- calculating the actual scale based on a feature value of the object image feature point and the object information.
Dependencies are inferred from the claim text.