MOVEMENT AMOUNT ESTIMATION DEVICE, MOVEMENT AMOUNT ESTIMATION METHOD, AND COMPUTER-READABLE RECORDING MEDIUM STORING MOVEMENT AMOUNT ESTIMATION PROGRAM

摘要

A movement-amount-estimation device includes an edge-removal unit to generate a first edge-removed image by removing from a first edge-image a first-removal-target edge by on a change in brightness indicated by edge intensity in a direction from an inner side to an outer side of a mobile body, the first edge-image being generated from a first image taken by an imaging device mounted on the mobile body, and to generate a second-edge-removed image by removing from a second edge-image a second-removal-target edge by the change in brightness indicated by the edge intensity in the direction from the inner side to the outer side, the second edge-image being generated from a second image taken at a different clock time than the first image; and an output unit configured to output a movement amount of the mobile body that is estimated based on the first edge-removed image and the second edge-removed image.

主权项

1. A movement amount estimation device, comprising:
an edge removal unit configured to generate a first edge-removed image by removing a first removal target edge based on a change in brightness indicated by edge intensity in a direction from an inner side to an outer side of a mobile body from a first edge image, the first edge image being generated from a first image taken by an imaging device mounted on the mobile body, and to generate a second edge-removed image by removing a second removal target edge based on the change in brightness indicated by the edge intensity in the direction from the inner side to the outer side of the mobile body from a second edge image, the second edge image being generated from a second image taken at a different clock time than the first image; and an output unit configured to output a movement amount of the mobile body that is estimated based on the first edge-removed image and the second edge-removed image.