| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a self-position estimation device, a self-position estimation method and a program that enable accurate estimation of self-position. <P>SOLUTION: A self-position estimation device comprises an imaging section, a distance calculation section, a landmark position acquisition section, a self-position estimation section, a movement position prediction section, an observation likelihood calculation section, an in-view landmark extraction section, a shooting angle change section and a photographing control section. The landmark position acquisition section acquires a position of each landmark. A self-position estimation section estimates a self-position on the basis of an acquired image, calculated distance and the position of each landmark. The movement position prediction section calculates a predictive position on the basis of the estimated self-position. The shooting angle change section changes a shooting angle in accordance with observation likelihood, which is calculated by the observation likelihood calculation section with respect to an in-view landmark extracted by the in-view landmark extraction section, and also in accordance with an observation angle of the in-view landmark. The photographing control section updates the self-position on the basis of an image taken at the changed shooting angle. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
