Own location estimation device

An own location estimation device for a vehicle having an in-vehicle camera and a cloud map server, the own location estimation device comprising:

• an environment recognition unit that is configured to recognize an environment around the vehicle based on a state quantity of the vehicle and sensing information by the in-vehicle camera, wherein:
• the environment recognition unit includes:
• a landmark recognition unit that is configured to recognize a camera landmark based on the sensing information of the in-vehicle camera;
• a cloud map transmission and reception unit that is configured to update a cloud map in the cloud map server;
• and
• an own location estimation unit that is configured to estimate a location of the vehicle from the camera landmark and the map landmark in the cloud map;
• the landmark recognition unit includes a landmark generation unit that is configured to generate a new landmark based on the sensing information of the in-vehicle camera when the map landmark does not exist in the cloud map or when an accuracy of the camera landmark is determined to be low;
• and
• the landmark generation unit extracts the new landmark based on at least one corner at an intersection that are obtained by the sensing information of the in-vehicle camera.