Estimation device, estimation method, and computer program product

An estimation method performed by a computer, the method comprising:

• storing, in a storage unit, first position information, the first position indicating at least one of a position of and a pose of a first landmark in a map;
• acquiring second position information, the second position information indicating at least one of a position of and a pose of a second landmark around a moving object;
• and
• estimating third position information and correspondence between the first landmark and the second landmark, based on the first position information and the second position information, the third position information indicating at least one of a position of and a pose of the moving object in the map, wherein
• the estimating estimates the third position information and the correspondence such that an observation error of the second landmark in at least one of the position and the pose specified by the third position information and a matching error indicating an error in the matching are reduced.

A computer program product having a computer readable medium including programmed instructions, wherein the instructions, when executed by a computer, cause the computer to perform:

• storing, in a storage unit, first position information, the first position information indicating at least one of a position of and a pose of a first landmark in a map;
• acquiring second position information, the second position information indicating at least one of a position of and a pose of a second landmark around a moving object;
• and
• estimating third position information and correspondence between the first landmark and the second landmark, based on the first position information and the second position information, the third position information indicating at least one of a position of and a pose of the moving object in the map, wherein
• the estimating estimates the third position information and the correspondence such that an observation error of the second landmark in at least one of the position and the pose specified by the third position information and a matching error indicating an error in the matching are reduced.