Estimation device, movable body, estimation method, and computer program product

A movable body comprising:

• a first imaging device that captures a query image;
• a query image acquisition unit that acquires the query image from the first imaging device;
• a query imaging condition acquisition unit that acquires a query imaging condition indicating an imaging condition of the query image;
• a reference image acquisition unit that acquires at least one reference image;
• a reference imaging condition acquisition unit that acquires a reference imaging condition indicating the imaging condition of the reference image;
• a feature calculation unit that calculates a query feature indicating a feature of the query image from the query image based on the reference imaging condition, and calculates a reference feature indicating a feature of the reference image from the reference image based on the query imaging condition;
• a self-position calculation unit that associates the reference image with the query image based on the query feature and the reference feature, and uses a position and a pose of a second imaging device capturing the reference image associated with the query image to calculate a self location indicating at least one of a position and a pose of the first imaging device;
• and
• a power control unit that controls a power unit based on the self location.

An estimation method comprising:

• acquiring, by an estimation device comprising one or more hardware processors, an image captured by a first imaging device as a query image;
• acquiring, by the estimation device, a query imaging condition indicating an imaging condition of the query image;
• acquiring, by the estimation device, at least one reference image;
• acquiring, by the estimation device, a reference imaging condition indicating the imaging condition of the reference image;
• calculating, by the estimation device, a query feature indicating a feature of the query image from the query image based on the reference imaging condition, and a reference feature indicating a feature of the reference image from the reference image based on the query imaging condition;
• and
• associating, by the estimation device, the reference image with the query image based on the query feature and the reference feature, and using a position and a pose of a second imaging device capturing the reference image associated with the query image to calculate a self location indicating at least one of a position and a pose of the first imaging device.

A computer program product including programmed instructions embodied in and stored on a non-transitory computer readable medium, wherein the instructions, when executed by a computer, cause the computer to function as:

• a query image acquisition unit that acquires an image captured by a first imaging device as a query image;
• a query imaging condition acquisition unit that acquires a query imaging condition indicating an imaging condition of the query image;
• a reference image acquisition unit that acquires at least one reference image;
• a reference imaging condition acquisition unit that acquires a reference imaging condition indicating the imaging condition of the reference image;
• a feature calculation unit that calculates a query feature indicating a feature of the query image from the query image based on the reference imaging condition, and calculates a reference feature indicating a feature of the reference image from the reference image based on the query imaging condition;
• and
• a self-position calculation unit that associates the reference image with the query image based on the query feature and the reference feature, and uses a position and a pose of a second imaging device capturing the reference image associated with the query image to calculate a self location indicating at least one of a position and a pose of the first imaging device.