ENVIRONMENT MAP GENERATION APPARATUS FOR ESTIMATING SELF VEHICLE POSITION, SELF VEHICLE POSITION ESTIMATION DEVICE, ENVIRONMENT MAP GENERATION PROGRAM FOR ESTIMATING SELF VEHICLE POSITION, AND SELF VEHICLE POSITION ESTIMATION PROGRAM
ENVIRONMENT MAP GENERATION APPARATUS FOR ESTIMATING SELF VEHICLE POSITION, SELF VEHICLE POSITION ESTIMATION DEVICE, ENVIRONMENT MAP GENERATION PROGRAM FOR ESTIMATING SELF VEHICLE POSITION, AND SELF VEHICLE POSITION ESTIMATION PROGRAM
- New search for: ASAI SHOJI
- New search for: ASAUMI SHU
- New search for: ISHIGURO HIROSHI
- New search for: HAYAKAWA KAZUTAKA
- New search for: SUZUKI TAKASHI
- New search for: ASAI SHOJI
- New search for: ASAUMI SHU
- New search for: ISHIGURO HIROSHI
- New search for: HAYAKAWA KAZUTAKA
- New search for: SUZUKI TAKASHI
To provide an environment map generation apparatus for estimating a self vehicle position capable of stably estimating a position and attitude of an imaging part, a self vehicle position estimation device, environment map generation program for estimating the self vehicle position, and self vehicle position estimation program.SOLUTION: Feature points are extracted from an area other than an area within a prescribed range corresponding to a moving direction of a vehicle in a photographic image photographed with a camera using a detection result of a steering angle sensor for detecting a steering angle of the vehicle (100-104). The position and attitude of the vehicle are estimated on the basis of association between the extracted feature points and feature points of a photographic image of a time (106-112), An environment map is generated by estimating three-dimensional positions of the feature points and registering them on a map (114).SELECTED DRAWING: Figure 5
【課題】撮影部の位置及び姿勢を安定的に推定可能な自車位置推定用環境地図生成装置、自車位置推定装置、自車位置推定用環境地図生成プログラム、並びに自車位置推定プログラムを提供することを目的とする。【解決手段】車両の舵角を検出する舵角センサの検出結果を用いて、カメラによって撮影された撮影画像における車両の移動方向に対応する予め定めた範囲の領域以外の領域から特徴点を抽出し（１００〜１０４）、抽出した特徴点と、前時刻の撮影画像の特徴点との対応付けに基づいて、車両の位置及び姿勢を推定し（１０６〜１１２）、推定結果に基づいて、特徴点の３次元位置を推定して地図に登録することにより環境地図を生成する（１１４）。【選択図】図５
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ENVIRONMENT MAP GENERATION APPARATUS FOR ESTIMATING SELF VEHICLE POSITION, SELF VEHICLE POSITION ESTIMATION DEVICE, ENVIRONMENT MAP GENERATION PROGRAM FOR ESTIMATING SELF VEHICLE POSITION, AND SELF VEHICLE POSITION ESTIMATION PROGRAM
自車位置推定用環境地図生成装置、自車位置推定装置、自車位置推定用環境地図生成プログラム、及び自車位置推定プログラム
2018-12-27
Patent
Electronic Resource
Japanese
| IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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