US 11,989,910 B2
Moving body and position estimation method
Yuya Yamaguchi, Tokyo (JP); and Makoto Daniel Tokunaga, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/614,177
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed May 22, 2020, PCT No. PCT/JP2020/020243
§ 371(c)(1), (2) Date Nov. 24, 2021,
PCT Pub. No. WO2020/246261, PCT Pub. Date Dec. 10, 2020.
Claims priority of application No. 2019-105206 (JP), filed on Jun. 5, 2019.
Prior Publication US 2022/0222851 A1, Jul. 14, 2022
Int. Cl. G06T 7/529 (2017.01); G06T 7/593 (2017.01); G06T 7/73 (2017.01); H04N 13/204 (2018.01); H04N 13/296 (2018.01); H04N 23/69 (2023.01); G01C 21/16 (2006.01)
CPC G06T 7/74 (2017.01) [G06T 7/529 (2017.01); G06T 7/593 (2017.01); H04N 13/204 (2018.05); H04N 13/296 (2018.05); H04N 23/69 (2023.01); G01C 21/1656 (2020.08); G06T 2207/10032 (2013.01); G06T 2207/30244 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A moving body, comprising:
an imaging unit that includes a zoom lens;
an imaging control unit configured to:
set a zoom parameter of the imaging unit based on at least one of an altitude or a moving speed of the moving body; and
adjust the zoom parameter based on an index value of disparity of a plurality of feature points on an image captured by the imaging unit, wherein the zoom parameter is adjusted so that an average value of the disparity of the plurality of feature points becomes a value within a specific range; and
a self-position estimation unit configured to estimate a position of the moving body based on the image captured by the imaging unit in which the zoom parameter is set.