US 12,249,089 B2
Self-position estimation apparatus, self-position estimation method, and program
Natsuki Kai, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 17/781,430
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Dec. 9, 2019, PCT No. PCT/JP2019/048009
§ 371(c)(1), (2) Date Jun. 1, 2022,
PCT Pub. No. WO2021/117079, PCT Pub. Date Jun. 17, 2021.
Prior Publication US 2023/0009012 A1, Jan. 12, 2023
Int. Cl. G06T 7/70 (2017.01)
CPC G06T 7/70 (2017.01) [G06T 2207/10028 (2013.01); G06T 2207/30204 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A self-position estimation apparatus comprising:
a camera part; and
at least a processor; and
a memory in circuit communication with the processor,
wherein the processor is configured to execute program instructions stored in the memory to implement:
an environmental data storage part that stores information that changes according to a position of a mobile object on a travel route in association with position information thereof;
a first estimation part that estimates the position of the mobile object from sensor data containing information that changes according to the position of the mobile object and the information in the environmental data storage part;
a second estimation part that estimates the position of the mobile object on the basis of a known object image included in an image inputted from the camera part;
a weighting determination part that determines weightings for the position of the mobile object estimated by the first estimation part and the second estimation part;
a self-position calculation part that calculates the position of the mobile object by linearly combining the positions estimated by the first estimation part and the second estimation part using the weightings determined by the weighting determination part;
a continuity determination part that determines whether or not the position of the mobile object calculated by the self-position calculation part is continuous; and
a marking part that marks the information held by the environmental data storage part with a predetermined marking on the basis of the result by the continuity determination part.