Parking assistance device, parking assistance method, and parking assistance program

A parking assistance method comprising:

• an odometry information acquisition step of acquiring odometry information indicating a positional change amount and an orientation change amount of a vehicle between a parking space and a first position outside the parking space;
• a road surface region identification step of identifying, based on the odometry information, a road surface region of the parking space in a first image captured from the first position by an in-vehicle camera mounted on the vehicle;
• and
• a position and orientation estimation step of calculating, by comparing the road surface region in a second image captured by the in-vehicle camera from a second position different from the first position outside the parking space with the road surface region in the first image, relative position and orientation information indicating a positional change amount and an orientation change amount of the vehicle between the first position and the second position, and outputting, based on the odometry information and the relative position and orientation information, position and orientation estimation information indicating a position and orientation of the vehicle with respect to the parking space when the vehicle is located at the second position.

A parking assistance program stored on a non-transitory computer readable medium configured to cause a computer to execute:

• an odometry information acquisition step of acquiring odometry information indicating a positional change amount and an orientation change amount of a vehicle between a parking space and a first position outside the parking space;
• a road surface region identification step of identifying, based on the odometry information, a road surface region of the parking space in a first image captured from the first position by an in-vehicle camera mounted on the vehicle;
• and
• a position and orientation estimation step of calculating, by comparing the road surface region in a second image captured by the in-vehicle camera from a second position different from the first position outside the parking space with the road surface region in the first image, relative position and orientation information indicating a positional change amount and an orientation change amount of the vehicle between the first position and the second position, and outputting, based on the odometry information and the relative position and orientation information, position and orientation estimation information indicating a position and orientation of the vehicle with respect to the parking space when the vehicle is located at the second position.