SELF-MOTION ESTIMATION SYSTEM, CONTROL METHOD AND PROGRAM OF SELF-MOTION ESTIMATION SYSTEM

摘要

PROBLEM TO BE SOLVED: To observe an environment more efficiently and correctly and estimate a self-motion state in real time.;SOLUTION: A self-motion estimation system which is mounted on a movable body and detects change of a relative position with an object which exists in an environment for estimating a motion state of the movable body is configured to: acquire a shading image of an environment and a distance image having plural pieces of distance information to respective points on the environment for every prescribed period; detect an edge from the shading image; collate the distance image and the shading image acquired at a first timing; identify as edge position distance information the distance information in the distance image corresponding to a position of an edge in the shading image; then calculate an estimated movement amount so that, a projection image in the shading image at a second timing of edge position distance information which is calculated using the edge position distance information at the first timing and an estimated movement amount of the movable body from the first timing to the second timing, approximates the position of the edge detected from the shading image acquired in the second timing.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2017,JPO&INPIT