FEATURED VALUE EXTRACTION DEVICE AND METHOD AND POSITION ESTIMATION DEVICE AND METHOD

摘要

PROBLEM TO BE SOLVED: To provide a featured value extraction device and a method therefor extracting a featured value which is robust to the change of a position, to provide a position estimation device with the featured value extraction device mounted thereon, and to provide a method therefor. SOLUTION: A position estimation device is provided with: a featured value extraction part 20 for extracting a constant featured value from an input image consisting of consecutive images; and a position estimation part means for estimating a position based on the constant featured value. A featured value extraction part 20 is provided with: a local featured value extraction part 21 for extracting a local featured value from each input image; a featured value matching part 22 for matching the local featured values extracted by the local featured value extraction part 21 between the consecutive input images; a consecutive featured value selection part 23 for selecting the local featured values matched between the predetermined number of consecutive images by the featured value matching part 22 as consecutive featured values; and a constant featured value calculation part 24 for calculating the mean of the consecutive featured values as a constant featured value. COPYRIGHT: (C)2011,JPO&INPIT