| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve estimation accuracy of a self position. <P>SOLUTION: A self position estimation device 1 includes: a map creation unit 2 for creating a two-dimensional map for every view point on the basis of environment data acquired from a plurality of view points of a mobile body; a map extraction unit 3 for extracting a two-dimensional map having relatively many linear parts in the plurality of two-dimensional maps; and a position estimation unit 4 for estimating a self position of the mobile body on the basis of a collation result of the extracted two-dimensional map with the environment data acquired from the same view point therewith. <P>COPYRIGHT: (C)2013,JPO&INPIT |
