| CPC G06T 7/73 (2017.01) [G01C 19/005 (2022.01); G06T 7/246 (2017.01); G06T 7/80 (2017.01)] | 8 Claims |
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1. A positioning device that determines a position of a moving body, the positioning device comprising:
a camera that is mounted on the moving body and captures an image of surroundings of the moving body to acquire a captured image;
a sensor that is mounted on the moving body and detects motion of the moving body to output a detection signal indicating a detection result; and
a circuit that processes the detection signal using a correction value for correcting a bias error included in the detection signal without depending on the motion of the moving body;
wherein the circuit performs:
computing the position of the moving body based on the captured image acquired by the camera and a detection signal processed; and
determining whether or not the moving body is stationary;
wherein the circuit:
updates a correction value of the bias error based on a detection signal output by the sensor when the circuit determines that the moving body is stationary, and
does not update a correction value of the bias error based on a detection signal output by the sensor when the circuit determines that the moving body is not stationary,
wherein the circuit computes velocity of the moving body based on a computation result of the circuit, and determines that the moving body is stationary when a state in which the velocity is equal to or less than a preset threshold value is continued for a predetermined period, and
wherein the circuit sets the predetermined period to be shorter and/or the threshold value to be larger as a time elapsed from last update of the bias error is longer to determine whether or not the moving body is stationary.
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