Moving body position determination device, moving body position determination method, and moving body position determination system

A moving body position determination device, comprising:

• a communicator;
• and
• at least one processor, wherein the at least one processor is configured to
• acquire a first image via the communicator, the first image expressing an image including a first light-emitting device and another light-emitting device of a plurality of light-emitting devices for which coordinate positions in three-dimensional space are known, the plurality of light-emitting devices including two light-emitting devices placed at desired positions in the three-dimensional space, the image being imaged by an imaging device attached to a moving body,
• determine, based on the acquired first image, at least one of a coordinate position of the moving body and an orientation the moving body is facing in the three-dimensional space,
• calculate, based on a second image acquired after acquiring the first image, a movement vector of the moving body, and
• when the second image only includes the first light-emitting device and does not include any other light-emitting devices, determine the coordinate position of the moving body based on the calculated movement vector.

A moving body position determination method of a moving body position determination device, the method comprising:

• acquiring an image via a communicator, the image including at least two light-emitting devices of a plurality of light-emitting devices for which coordinate positions in three-dimensional space are known, the plurality of light-emitting devices including two light-emitting devices placed at desired positions at which heights in the three-dimensional space differ, the at least two light emitting devices being imaged by an imaging device attached to a moving body;
• acquiring, based on the acquired image, coordinate positions in the image of the at least two light-emitting devices;
• and
• determining, based on the coordinate positions in the three-dimensional space and the coordinate positions in the image, at least one of a coordinate position of the moving body and an orientation the moving body is facing in the three-dimensional space.

A moving body position determination system, comprising:

• two light-emitting devices placed at desired positions for which heights in the three-dimensional space differ;
• a moving body to which an imaging device is attached;
• and
• a moving body position determination device, wherein
• the moving body position determination device includes
• a communicator, and
• at least one processor, the at least one processor being configured to
• acquire an image via the communicator, the image including at least two light-emitting devices of a plurality of light-emitting devices for which coordinate positions in three-dimensional space are known, the plurality of light-emitting devices including the two light-emitting devices, the image being imaged by the imaging device,
• acquire, based on the acquired image, coordinate positions in the image of the at least two light-emitting devices, and
• determine, based on the coordinate positions in the three-dimensional space and the coordinate positions in the image, at least one of a coordinate position of the moving body and an orientation the moving body is facing in the three-dimensional space.