| 摘要 |
PROBLEM TO BE SOLVED: To provide an information processor that can estimate the self-position with high robustness.SOLUTION: An information processor has a tracking part, a region estimating part, and an estimation processing part. The tracking part acquires an image taken by an imaging unit of a moving body which make a move while rotating, and makes the feature points in the images taken before and after the movement relate to one another. The region estimating part acquires information on the movement and estimates, based on the information, a region where the two-dimensional positions of the feature points viewed from the moving body change only slightly between before and after the movement. The estimation processing part estimates the self-position of the moving body, using the feature points in the region related to one another by the tracking part.SELECTED DRAWING: Figure 7 |
