Position estimation device, position estimation method, and program

摘要

Disclosed is a position estimation device including a feature extraction unit that extracts invariant features from an input image, a matching unit that obtains matching between an input image and a registered place by referring to a database containing each registered place and invariant features in association, a similarity calculation unit that calculates a similarity with inclusion of a registered place near a selected registered place when the matching is a threshold or more, and a position identification unit that identifies the input image as a registered place when the similarity is a threshold or more. The feature extraction unit extracts local features from each input image being sequential images taken sequentially, selects features matched between the sequential images as sequential features, and calculates invariant features based on the sequential features. The number of sequential images is variable depending on the number of matched features.

主权项

1. A position estimation device comprising:
a feature extraction means for extracting invariant features from an input image; a matching means for obtaining matching between an input image and a registered place in reference to a database containing each registered place and invariant features in association with each other; a similarity calculation means for calculating a similarity with inclusion of a registered place near a selected registered place when the matching is equal to or larger than a specified threshold; and a position identification means for identifying the input image as a registered place when the similarity is equal to or higher than a specified threshold, wherein the feature extraction means includes
a local feature extraction means for extracting local features from each input image being sequential images taken sequentially,a feature matching means for performing matching of the local features extracted by the local feature extraction means between the sequential input images based on matching scores of the sequential input images,a sequential feature selection means for selecting the local features matched between the sequential images by the feature matching means as sequential features, andan invariant feature calculation means for calculating invariant features based on the sequential features, and the sequential feature selection means sets the number of sequential images to be variable depending on the number of matched features.