Control device and control method, program, and mobile object

A control method comprising:

• self-position estimation processing of estimating a self-position;
• imaging processing of capturing an image of surroundings;
• first mask generation processing of generating a mask for the image of the surroundings on a basis of a place-related non-feature portion representing an area, in the image of the surroundings, that is not useful for identifying the self-position;
• first feature amount extraction processing of extracting an image feature amount from the image of the surroundings to which the mask has been added by the first mask generation processing;
• and
• registration processing of registering, as a database, the image feature amount in association with positional information regarding the self-position estimated by the self-position estimation processing.

A program that causes a computer to function as:

• a self-position estimation unit that estimates a self-position;
• an imaging unit that captures an image of surroundings;
• a first mask generation unit that generates a mask for the image of the surroundings on a basis of a place-related non-feature portion representing an area, in the image of the surroundings, that is not useful for identifying the self-position;
• a first feature amount extraction unit that extracts an image feature amount from the image of the surroundings to which the mask has been added by the first mask generation unit;
• and
• a registration unit that registers, as a database, the image feature amount in association with positional information regarding a self-position estimated by the self-position estimation unit.

A mobile object comprising:

• a self-position estimation unit that estimates a self-position;
• an imaging unit that captures an image of surroundings;
• a first mask generation unit that generates a mask for the image of the surroundings on a basis of a place-related non-feature portion representing an area, in the image of the surroundings, that is not useful for identifying the self-position;
• a first feature amount extraction unit that extracts an image feature amount from the image of the surroundings to which the mask has been added by the first mask generation unit;
• and
• a registration unit that registers, as a database, the image feature amount in association with positional information regarding a self-position estimated by the self-position estimation unit.

A control device further comprising:

• a self-position estimation unit that estimates a self-position;
• an imaging unit that captures an image of surroundings;
• a mask generation unit that generates a mask for the image of the surroundings on a basis of a place-related non-feature portion representing an area, in the image of the surroundings, that is not useful for identifying the self-position;
• a feature amount extraction unit that extracts an image feature amount from the image of the surroundings to which the mask has been added by the mask generation unit;
• a registration unit that registers, as a database, the image feature amount in association with positional information regarding a self-position estimated by the self-position estimation unit;
• and
• a current information-based self-position estimation unit that estimates a current information-based self-position on a basis of the database,
• wherein in a case of estimating the current information-based self-position,
• the feature amount extraction unit extracts the image feature amount from the image of the surroundings captured by the imaging unit, and
• the current information-based self-position estimation unit estimates, as a current information-based self-position, the positional information registered in the database in association with the image feature amount extracted by the feature amount extraction unit.

A control method further comprising:

• self-position estimation processing of estimating a self-position;
• imaging processing of capturing an image of surroundings;
• mask generation processing of generating a mask for the image of the surroundings on a basis of a place-related non-feature portion representing an area, in the image of the surroundings, that is not useful for identifying the self-position;
• feature amount extraction processing of extracting an image feature amount from the image of the surroundings to which the mask has been added by the mask generation processing;
• registration processing of registering, as a database, the image feature amount in association with positional information regarding a self-position estimated by the self-position estimation processing;
• and
• current information-based self-position estimation processing of estimating a current information-based self-position on a basis of the database,
• wherein in a case of estimating the current information-based self-position,
• the feature amount extraction processing extracts the image feature amount from the image of the surroundings captured by the imaging processing, and
• the current information-based self-position estimation processing estimates, as a current information-based self-position, the positional information registered in the database in association with the image feature amount extracted by the feature amount extraction processing.

A program that causes a computer to function as:

• a self-position estimation unit that estimates a self-position;
• an imaging unit that captures an image of surroundings;
• a mask generation unit that generates a mask for the image of the surroundings on a basis of a place-related non-feature portion representing an area, in the image of the surroundings, that is not useful for identifying the self-position;
• a feature amount extraction unit that extracts an image feature amount from the image of the surroundings to which the mask has been added by the mask generation unit;
• a registration unit that registers, in a database, the image feature amount in association with positional information regarding a self-position estimated by the self-position estimation unit;
• and
• a current information-based self-position estimation unit that estimates a current information-based self-position on a basis of the database,
• wherein in a case of estimating the current information-based self-position,
• the feature amount extraction unit extracts the image feature amount from the image of the surroundings captured by the imaging unit, and
• the current information-based self-position estimation unit estimates, as a current information-based self-position, the positional information registered in the database in association with the image feature amount extracted by the feature amount extraction unit.

A mobile object further comprising:

• a self-position estimation unit that estimates a self-position;
• an imaging unit that captures an image of surroundings;
• a mask generation unit that generates a mask for the image of the surroundings on a basis of a place-related non-feature portion representing an area, in the image of the surroundings, that is not useful for identifying the self-position;
• a feature amount extraction unit that extracts an image feature amount from the image of the surroundings to which the mask has been added by the mask generation unit;
• a registration unit that registers, as a database, the image feature amount in association with positional information regarding a self-position estimated by the self-position estimation unit;
• and
• a current information-based self-position estimation unit that estimates a current information-based self-position on a basis of the database,
• wherein in a case of estimating the current information-based self-position,
• the feature amount extraction unit extracts the image feature amount from the image of the surroundings captured by the imaging unit, and
• the current information-based self-position estimation unit estimates, as a current information-based self-position, the positional information registered in the database in association with the image feature amount extracted by the feature amount extraction unit.