Position management device, position management system, position management method and non-transitory computer-readable medium having program stored thereon

A position management method, wherein

• distances of a plurality of parts of a moving object are measured in each unit time by a sensor,
• point cloud data indicating coordinates on a space of the plurality of parts is acquired in each unit time,
• a pair of the coordinates is selected between first point cloud data which is the point cloud data acquired at a first point of time and second point cloud data which is the point cloud data acquired at a second point of time the unit time before the first point of time,
• a position of the moving object is estimated by making both coordinates of the selected pair correspond to each other and performing positioning processing of the first point cloud data and the second point cloud data, and
• in selecting the pair of the coordinates, the pair of the coordinates is selected by pairing a first point belonging to the first point cloud data and a second point belonging to the second point cloud data in a case where a difference between a direction viewed from the sensor of the first point and a direction viewed from the sensor of the second point is equal to or smaller than a predetermined first threshold.

A non-transitory computer-readable medium having a program stored thereon, the program being configured to

• make a computer execute
• a pair selection step of selecting a pair of coordinates between first point cloud data which is point cloud data acquired at a first point of time by a sensor which measures distances of a plurality of parts of a moving object in each unit time and acquires the point cloud data indicating the coordinates on a space of the plurality of parts in each unit time and second point cloud data which is the point cloud data acquired at a second point of time the unit time before the first point of time and
• a position estimation step of estimating a position of the moving object by making both coordinates of the selected pair correspond to each other and performing positioning processing of the first point cloud data and the second point cloud data, and
• in the pair selection step, the pair of the coordinates is selected by pairing a first point belonging to the first point cloud data and a second point belonging to the second point cloud data in a case where a difference between a direction viewed from the sensor of the first point and a direction viewed from the sensor of the second point is equal to or smaller than a predetermined first threshold.