MONITORING DEVICE, MONITORING SYSTEM AND MONITORING METHOD

摘要

A monitoring device: measures a three-dimensional shape in the periphery of the monitoring device; estimates the self-localization of the monitoring device by collating the measured three-dimensional shape with a map for localization including the shapes and positions of structural objects inside a building excluding the shapes and positions of facility elements; extracts facility elements in the periphery of the estimated self-localization from a facility element collation map including the shapes and positions of the facility elements inside the building; extracts the shape and position of a facility element candidate from the measured three-dimensional shape; calculates a similarity between the shape and position of each of the facility elements in the periphery of the self-localization extracted from the facility element collation map and the shape and position of the facility element candidate extracted from the measured three-dimensional shape on the basis of the error distribution of the shape and position of the facility element in the periphery of the self-localization and the error distribution of the shape and position of the facility element candidate extracted from the measured three-dimensional shape; and identifies which of the facility elements in the periphery of the self-localization extracted from the facility element collation map is the facility element candidate extracted from the measured three-dimensional shape on the basis of the calculated similarity.