| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a moving body position estimation device and a moving body position estimation method capable of estimating the position of a moving body even when the appearances of feature points detected from different places change from one detection place to another. <P>SOLUTION: The moving body position estimation device includes a rising line calculation unit 16 for calculating a rising line rising at a preset angle from a bent part plane in the bent part where linear light projected into the imaging range of a peripheral image imaged by an imaging unit 2 is bent, a feature point collation unit 20 for collating a bent part after the change of the imaging range with a bent part before the change of the imaging range based on the rising line calculated by the rising line calculation unit 16 and a distance from the imaging unit 2 to the feature point, and a moving body position estimation unit 22 for estimating the position of a vehicle V based on the change amount of a position between the bent part before the change of the imaging range and the bent part after the change of the imaging range collated by the feature point collation unit 20. <P>COPYRIGHT: (C)2012,JPO&INPIT |
