US 12,243,264 B2
Estimation device and method
Naoki Nishizawa, Kawasaki Kanagawa (JP); Akihito Seki, Yokohama Kanagawa (JP); and Nao Mishima, Tokyo (JP)
Assigned to KABUSHIKI KAISHA TOSHIBA, Tokyo (JP)
Filed by KABUSHIKI KAISHA TOSHIBA, Tokyo (JP)
Filed on Feb. 23, 2022, as Appl. No. 17/678,088.
Claims priority of application No. 2021-142611 (JP), filed on Sep. 1, 2021.
Prior Publication US 2023/0061831 A1, Mar. 2, 2023
Int. Cl. G06T 7/73 (2017.01); G06T 7/00 (2017.01); G06T 7/593 (2017.01)
CPC G06T 7/74 (2017.01) [G06T 7/0002 (2013.01); G06T 7/593 (2017.01); G06T 2207/10012 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30168 (2013.01)] 20 Claims
OG exemplary drawing
 
9. An estimation device comprising:
a processor configured to:
acquire first and second images including a same subject continuously captured by a capture device installed in a mobile object;
estimate a position and orientation of the mobile object with an indeterminate scale when the second image is captured by the capture device by detecting a plurality of feature points from the acquired first and second images and associating the feature points detected from the first and second images;
acquire a first distance to the subject included in the acquired second image and uncertainty of the first distance;
extract a second distance from the acquired first distance based on the acquired uncertainty of the first distance; and
correct, based on the extracted second distance, the estimated position and orientation of the mobile object with the indeterminate scale to the position and orientation of the mobile object based on a real scale.