| 摘要 |
In the present invention, an evaluation value calculation unit (15) compares 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 (16) estimates the position of a vehicle based on the evaluation value for each particle. |
