| 摘要 |
PROBLEM TO BE SOLVED: To reduce a risk that a position of a moving body cannot be calculated when the number of landmarks whose position on a map is stored in advance and whose relative position can be measured is insufficient.SOLUTION: A position detection device 30 measures a relative position of a peripheral object with respect to a moving body 1, and detects a first landmark whose position on a map is stored and a measured object whose position on the map is not stored among the peripheral objects. The position detection device 30 detects a static measured object as a second landmark, and calculates the position on the map of the second landmark according to the relative position and the position on the map of the first landmark and the relative position of the second landmark. The position detection device 30 calculates the position on the map of the moving body according to at least the relative position and the position on the map of the second landmark.SELECTED DRAWING: Figure 2 |
