Moving body position estimating device, moving body position estimating method, and non-transitory recording medium

A moving body position estimating device, comprising:

• an acquisition unit acquiring information including first data and second data, the first data relating to a first image, the second data relating to a second image, the second image including a difference between the first image and the second image accompanying a movement of a moving body;
• and
• a processor implementing
• direction estimation processing to estimate, based on the information, a direction of a change of a position of the moving body accompanying the movement,
• detection processing to detect, based on the direction of the change of the position, a plurality of first feature points inside a first region inside the first image and a plurality of second feature points inside a second region inside the first image, a first density inside the first region of the plurality of first feature points being higher than a second density inside the second region of the plurality of second feature points, and
• position estimation processing to determine a plurality of first corresponding points inside a third region inside the second image and estimate the change of the position of the moving body based on each of the plurality of first feature points and each of the plurality of first corresponding points, each of the plurality of first corresponding points corresponding respectively to at least one of the plurality of first feature points.

A moving body position estimating method, comprising:

• acquiring information including first data and second data, the first data relating to a first image, the second data relating to a second image, the second image including a difference between the first image and the second image accompanying a movement of a moving body;
• estimating, based on the information, a direction of a rotation accompanying the movement;
• detecting, based on the direction of the rotation, a plurality of first feature points inside a first region inside the first image and a plurality of second feature points inside a second region inside the first image, a first density inside the first region of the plurality of first feature points being higher than a second density inside the second region of the plurality of second feature points;
• and
• determining a plurality of first corresponding points inside a third region inside the second image and estimating a change of a position of the moving body based on each of the plurality of first feature points and each of the plurality of first corresponding points, each of the plurality of first corresponding points corresponding respectively to at least one of the plurality of first feature points.

A non-transitory recording medium recording a moving body position estimating program causing a computer to execute:

• acquiring information including first data and second data, the first data relating to a first image, the second data relating to a second image, the second image including a difference between the first image and the second image accompanying a movement of a moving body;
• estimating, based on the information, a direction of a rotation accompanying the movement;
• detecting, based on the direction of the rotation, a plurality of first feature points inside a first region inside the first image and a plurality of second feature points inside a second region inside the first image, a first density inside the first region of the plurality of first feature points being higher than a second density inside the second region of the plurality of second feature points;
• and
• determining a plurality of first corresponding points inside a third region inside the second image and estimating a change of a position of the moving body based on each of the plurality of first feature points and each of the plurality of first corresponding points, each of the plurality of first corresponding points corresponding respectively to at least one of the plurality of first feature points.