MOBILE POSITIONING APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a mobile positioning apparatus for performing map matching based on a pixel image. SOLUTION: The mobile positioning apparatus includes a position storage device which holds a position information group indicating a current position of a mobile body and its likelihood information as a nonparametric distribution; a movement vector estimating device which outputs a movement vector indicating a moving distance and a moving direction of the mobile body at a discrete time T and its likelihood information; an image database which holds a peripheral map of a range of movement of the mobile body as an image group of a resolution according to a moving resolution of the mobile body; and a pixel crossing determining device which performs map matching using the position information group and the movement vector based on the peripheral map. COPYRIGHT: (C)2009,JPO&INPIT