| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling object position/attitude estimation device and method for estimating the position and attitude angle of a traveling object with high accuracy.SOLUTION: A candidate point group including a plurality of candidate points whose virtual positions and virtual attitude angles are set is set (S3), and three-dimensional map data is converted into an image picked up from the virtual position and virtual attitude angle for each candidate point (S4), and the attitude angle and position of an actual traveling object are estimated on the basis of the matching degree of the pickup image and the virtual image (S5, S6), and a plurality of candidate points are reset (S7). When there exist a plurality of parallel pixel groups following structures which are in parallel with each other (S8) and there exists a parallel pixel group in which the degree of matching between the pickup image and the virtual image is high and a parallel pixel group in which the degree of matching between the pickup image and the virtual image is low (S11), the candidate point group is moved in a direction going from the parallel pixel group in which the degree of matching is low to the parallel pixel group in which the degree of matching is high (S12). |
