POSITION AND ATTITUDE ESTIMATION DEVICE, IMAGE PROCESSING DEVICE, AND POSITION AND ATTITUDE ESTIMATION METHOD

摘要

The present invention makes it possible to enhance the accuracy of position and attitude estimation. A position and attitude estimation device (10) is provided with a first detection unit (1) for detecting a plurality of first position and attitude parameters pertaining to the position and attitude of a moving object, a first position and attitude estimation unit (2) for estimating a first position and attitude of the moving object at a first time on the basis of the plurality of detected first position and attitude parameters, a second detection unit (3) for detecting a plurality of second position and attitude parameters pertaining to the position and attitude of the moving object, a second position and attitude estimation unit (4) for estimating a second position and attitude of the moving object at a second time different from the first time on the basis of the plurality of detected second position and attitude parameters, and a position and attitude output unit (5) for outputting a third position and attitude on the basis of the estimated first position and attitude and second position and attitude.

主权项

1. A position and attitude estimation device comprising:
first detection unit configured to detect a plurality of first position and attitude parameters pertaining to a position and attitude of a moving object; first position and attitude estimation unit configured to estimate a first position and attitude of the moving object at a first timing, based on the plurality of detected first position and attitude parameters; second detection unit configured to detect a plurality of second position and attitude parameters pertaining to a position and attitude of the moving object; second position and attitude estimation unit configured to estimate a second position and attitude of the moving object at a second timing different from the first timing, based on the plurality of detected second position and attitude parameters; and position and attitude output unit configured to output a third position and attitude, based on the estimated first position and attitude and the estimated second position and attitude.