Estimating apparatus, estimating method, and computer product

An estimating method executed by a computer in a mobile body, the estimating method comprising:

• updating a state of a first particle group indicating a state of the mobile body, from a current state to a next state through a simulation that is based on a state equation of the mobile body in a space using a particle filter;
• measuring at each update, using a sensor, a distance between the mobile body and an object in the space;
• generating at each update, a second particle group indicating a state of a specific area in the space;
• calculating a level of likelihood for each particle of the first particle group and for each particle of the second particle group, based on the measured distance, the updated first particle group, and the generated second particle group, and
• identifying a position of the mobile body in the space, based on the level of likelihood calculated for each particle.

An estimating method executed by a computer in an object, the estimating method comprising:

• updating a state of a first particle group indicating a state of a mobile body, from a current state to a next state through a simulation that is based on a state equation of the mobile body in a space using a particle filter;
• measuring at each update, using a sensor, a distance between the mobile body and the object in the space;
• generating at each update, a second particle group indicating a state of a specific area in the space;
• calculating a level of likelihood for each particle of the first particle group and for each particle of the second particle group, based on the measured distance, the updated first particle group, and the generated second particle group, and
• identifying a position of the mobile body in the space, based on the level of likelihood calculated for each particle.

A non-transitory computer-readable recording medium storing a program for causing a computer in a mobile body to execute an estimating process comprising:

• updating a state of a first particle group indicating a state of the mobile body, from a current state to a next state through a simulation that is based on a state equation of the mobile body in a space using a particle filter;
• measuring at each update, using a sensor, a distance between the mobile body and an object in the space;
• generating at each update, a second particle group indicating a state of a specific area in the space;
• calculating a level of likelihood for each particle of the first particle group and for each particle of the second particle group, based on the measured distance, the updated first particle group, and the generated second particle group, and
• identifying a position of the mobile body in the space, based on the level of likelihood calculated for each particle.

A non-transitory computer-readable recording medium storing a program for causing a computer in an object to execute an estimating process comprising:

• updating a state of a first particle group indicating a state of a mobile body, from a current state to a next state through a simulation that is based on a state equation of the mobile body in a space using a particle filter;
• measuring at each update, using a sensor, a distance between the mobile body and the object in the space;
• generating at each update, a second particle group indicating a state of a specific area in the space;
• calculating a level of likelihood for each particle of the first particle group and for each particle of the second particle group, based on the measured distance, the updated first particle group, and the generated second particle group, and
• identifying a position of the mobile body in the space, based on the level of likelihood calculated for each particle.