Estimation device, estimation method, and non-transitory storage medium

An estimation method comprising:

• performing first matching using three-dimensional point cloud data on a mobile object acquired by a first distance measurement device, and calculating at least one of a position and an orientation of the mobile object as a first calculation result derived from the first matching;
• performing second matching using three-dimensional point cloud data on the mobile object acquired by a second distance measurement device, and calculating at least one of a position and an orientation of the mobile object as a second calculation result derived from the second matching;
• calculating an estimate value that is an estimate value of at least one of the position and the orientation of the mobile object and that is used to generate a control command for driverless driving;
• and
• executing an estimation process of calculating the estimate value by using at least one of the first calculation result and the second calculation result, depending on the first calculation result and the second calculation result.

A non-transitory storage medium storing instructions that are executable by one or more processors and that cause the one or more processors to perform functions comprising:

• performing first matching using three-dimensional point cloud data on a mobile object acquired by a first distance measurement device, and calculating at least one of a position and an orientation of the mobile object as a first calculation result derived from the first matching;
• performing second matching using three-dimensional point cloud data on the mobile object acquired by a second distance measurement device, and calculating at least one of a position and an orientation of the mobile object as a second calculation result derived from the second matching;
• calculating an estimate value that is an estimate value of at least one of the position and the orientation of the mobile object and that is used to generate a control command for driverless driving;
• and
• executing an estimation process of calculating the estimate value by using at least one of the first calculation result and the second calculation result, depending on the first calculation result and the second calculation result.