IDENTIFICATION DEVICE, IDENTIFICATION METHOD, AND COMPUTER PROGRAM PRODUCT

摘要

According to an embodiment, an identification device includes a feature calculator, an obtaining unit, and an identifying unit. The feature calculator is configured to calculate one or more captured-image features from a captured image. The obtaining unit is configured to, for each predetermined virtual image in map data, obtain identification information in which one or more virtual-image features of the each predetermined virtual image, virtual three-dimensional positions estimated to be image capturing positions of the virtual-image features, and degrees of suitability of the virtual-image features are associated with each other. The identifying unit is configured to collate the virtual-image features with the captured-image features in descending order of the degrees of suitability, and identify a three-dimensional position and an orientation of the identification device by referring to virtual three-dimensional positions associated with the virtual-image features having a highest degree of collation and by referring to the captured-image features.

主权项

1. An identification device comprising:
an image capturing unit configured to capture an image; a feature calculator configured to calculate one or more captured-image features from the captured image; a first obtaining unit configured to, for each predetermined virtual image corresponding to positions in map data, obtain identification information in which one or more virtual-image features of the each predetermined virtual image, virtual three-dimensional positions estimated to be image capturing positions of the one or more virtual-image features, and degrees of suitability of the one or more virtual-image features are associated with each other; and an identifying unit configured to collate the one or more virtual-image features with the one or more captured-image features in descending order of the degrees of suitability, and identify a three-dimensional position and an orientation of the identification device by referring to virtual three-dimensional positions associated with the one or more virtual-image features having a highest degree of collation and by referring to the one or more captured-image features.