| 摘要 |
An estimating apparatus includes a processor configured to update a state of a first particle group indicating a state of a mobile body, from a current state to a next state through a simulation that is based on a state equation of the mobile body in a space using a particle filter; measure at each update, a distance between the mobile body and an object in the space; generate at each update, a second particle group indicating a state of a specific area in the space; calculate a level of likelihood for each particle of the first particle group and for each particle of the second particle group, based on the measured distance, the updated first particle group, and the generated second particle group; and identify a position of the mobile body in the space, based on the level of likelihood calculated for each particle. |
