Moving Object Location/Attitude Angle Estimation Device and Moving Object Location/Attitude Angle Estimation Method

摘要

A moving object location/attitude angle estimation device acquires a fish-eye lens image capturing a surrounding environment of a moving object with a fish-eye lens, and acquires a less distorted pinhole image for a predetermined region of the fish-eye lens image. Then, a bend degree of a driving road in a travelling direction of the moving object is detected. When the detected bend degree is less than a predetermined value, the pinhole image is selected. On the other hand, when the bend degree is not less than the predetermined value, the fish-eye lens image is selected. Thereafter, a location and an attitude angle of the moving object are estimated by matching edge information of the selected image with a three-dimensional map data.

主权项

1. A moving object location/attitude angle estimation device for estimating a location and an attitude angle of a moving object, comprising:
a fish-eye lens image acquisition unit configured to acquire a fish-eye lens image capturing a surrounding environment of the moving object with a fish-eye lens; a pinhole image acquisition unit configured to acquire a less distorted pinhole image for a predetermined region of the fish-eye lens image; an image selection unit configured to detect a bend degree of a driving road in a travelling direction of the moving object, to select the pinhole image when the bend degree is less than a predetermined value, and to select the fish-eye lens image when the bend degree is not less than the predetermined value; and a location/attitude angle estimation unit configured to estimate the location and the attitude angle of the moving object by matching an edge information of the image selected by the image selection unit with an edge information of a virtual image extracted from a three-dimensional map data.