| 摘要 |
A moving body position estimating device(100) includes an acquisition unit(10) and a processor(20). The acquisition unit(10) acquires information(13) including first data(11a) relating to a first image(11) and second data(12a) relating to a second image(12) including a difference between the first image and the second image accompanying a movement of a moving body(40). The processor implements estimating(S2), based on the information, a direction of a rotation accompanying the movement; detecting(S4), based on the direction of the rotation, first feature points(c1) inside a first region(r1) inside the first image and second feature points(c2) inside a second region(r2) inside the first image; and determining(S6) first corresponding points(c3) inside a third region(r3) inside the second image and estimating a change of a position of the moving body based on each of the first feature points and each of the first corresponding points. |
