| 摘要 |
PROBLEM TO BE SOLVED: To provide the information processing method and device which can perform the effective processing even when a parameter to be estimated has a boundary limit condition with respect to a recursive estimation filter for estimating a state variable (parameter) of the motion information, etc., of an object and also to provide a program supply medium. SOLUTION: When the state variable of an object is estimated according to the state variable that is previously estimated and the observed value, the estimated value of the next state variable is decided in an estimation process 'pre' and according to the state variable estimated previously. The state variable is updated in a 1st updating process 'ud' and according to those decided estimated value and observed value to decide the updated value. It's checked in a 2nd updating process 'opt' whether the updated value satisfies a boundary condition. If the updated value does not satisfy the boundary condition, the new updated value is decided to minimize the square sum or absolute value sum of Mahalanobis distances set from the estimated value in a state space and from the observed value in an observation space respectively under the boundary condition.
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