US 12,394,088 B2
Estimation apparatus, imaging apparatus, moving object, estimation system, estimation method, and program
Hiroaki Kikuchi, Kanagawa (JP)
Assigned to FUJIFILM CORPORATION, Tokyo (JP)
Filed by FUJIFILM CORPORATION, Tokyo (JP)
Filed on Mar. 8, 2024, as Appl. No. 18/599,208.
Application 18/599,208 is a continuation of application No. PCT/JP2022/020259, filed on May 13, 2022.
Claims priority of application No. 2021-161787 (JP), filed on Sep. 30, 2021.
Prior Publication US 2024/0212208 A1, Jun. 27, 2024
Int. Cl. G06T 7/73 (2017.01)
CPC G06T 7/74 (2017.01) [G06T 2207/10032 (2013.01); G06T 2207/20224 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An estimation apparatus comprising:
a processor that is configured to:
acquire positional information of a plurality of reference stations each having a light emitter that emits light in wavelength bands different from each other;
acquire image data obtained by imaging an imaging scene including the light emitter via an imaging apparatus mounted on a moving object, the image data including a plurality of image data groups obtained by imaging the imaging scene via the imaging apparatus in a plurality of the wavelength bands;
specify an in-image position of a light emitter of one reference station among the plurality of reference stations, based on a result of subtraction processing of first image data obtained by imaging the imaging scene in a light emitter wavelength band, which is a wavelength band in which the light emitter of the one reference station emits light, and second image data obtained by imaging the imaging scene in a first adjacent wavelength band, which has a central wavelength on one of a long wavelength side or a short wavelength side by a designated wavelength from a central wavelength of the light emitter wavelength band; and
estimate at least one of a position of the moving object or a posture of the moving object based on the in-image position and the positional information of the plurality of reference stations.