METHOD FOR CAMERA LOCATION ESTIMATION WITH PARTICLE GENERATION AND FILTERING AND MOVING SYSTEM USING THE SAME

摘要

Provided are a method of estimating a camera position through particle generation and selection, and a moving system. The method of estimating a camera position according to an embodiment of the present invention estimates a position by adaptively using a global localization scheme and a consecutive localization scheme based on reliability. Accordingly, the accuracy of a current position can be guaranteed without significantly reducing an estimation speed, and when the reliability of the consecutive localization drops, the global localization is performed again, so an error accumulation problem generated from the consecutive localization can be solved.