| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile object position attitude estimation device and method capable of accurately estimating a position of a mobile object and an attitude angle.SOLUTION: The mobile object position attitude estimation device detects a traveling state of its own vehicle V (S1); when the traveling state becomes an acceleration state or a constant speed state, enhances an image likelihood for attitude angle estimation indicating a suitable degree as an image for estimating an attitude angle of a mobile object in a front photographed image, and enhances an image likelihood for position estimation indicating a suitable degree as an image for estimating a position of the mobile object in a lateral photographed image (S6); on the basis of a coincidence degree between a photographed image where the image likelihood for position estimation, out of the front photographed image and the lateral photographed image, becomes a predetermined value or more and a virtual image which is projected in the same direction as the photographed image, estimates an actual position of the mobile object, and on the basis of a coincidence degree between a photographed image where the image likelihood for attitude angle estimation, out of the front photographed image and the lateral photographed image, becomes a predetermined value or more and a virtual image which is projected in the same direction as the photographed image, estimates the actual attitude angle of the mobile object (S7-S10). |
