MOVING BODY POSITION ESTIMATION DEVICE AND MOVING BODY POSITION ESTIMATION METHOD

摘要

An evaluation value calculation unit is configured to compare an edge image and virtual image for each particle, assigns a higher evaluation value if there are more overlapping edges between the images, and assigns a higher evaluation value if there are more edges that are not overlapping edges and for which an edge-to-edge distance, which is the distance between an edge in the edge image and an edge in the virtual image, is less than or equal to a prescribed value. A position and orientation estimation unit is configured to estimate the position of a vehicle based on the evaluation value for each particle.

主权项

1. A moving body position estimation device comprising:
a camera configured to capture surroundings of a moving body to acquire a captured image; a storage-configured to store a map data comprising edge information and position information of structures existing in the surroundings of the moving body; a computer programmed to include
an edge image generating unit which extracts an edge from the captured image to generate an edge image;a virtual image generating unit that sets multiple particles which are assumed positions and orientations of the moving body and converts the edge information of the map data for each of the particles to a virtual image captured from the assumed position and orientation;an evaluation value calculation unit which compares the edge image and the virtual image for each of the particles, and assigns a higher evaluation value upon determining there are more overlapping edges between the edge and virtual images, and assigns a higher evaluation value upon determining there are more edges for which an edge-to-edge distance of when an edge in the edge image and an edge in the virtual image are three-dimensionally projected onto real space is less than or equal to a predetermined distance on an image that reflects a three-dimensional distance in real space with respect to edges that are not overlapping;a position and orientation estimation unit which estimates a position of the moving body based on the evaluation value for each of the particles.