METHOD FOR ESTIMATING ATTITUDE OF OBJECT USING HISTORY OF ATTITUDE ESTIMATION RESULT

摘要

PURPOSE:To estimate the attitude of an object at a high speed with high accuracy by predicting the next attitude of the object from the history of a posture estimated result based on parameter matching and estimating the posture of the object by executing parameter matching using a model parameter created for a attitude close to the predicted attitude based on the predicted posture. CONSTITUTION:For the object, the history of the data of the attitude estimated result obtained by estimating the attitude of the object several times in the past based on parameter matching is obtained, and the next attitude of the object is predicted based on this obtained history. Next, the model parameters are created for the predicted attitude of the object obtained in the above- mentioned manner and the attitudes of the object close to the predicted attitude and parameter matching is executed. Thus, since the quantity of the model parameters which are necessary to be obtained by calculation is reduced, processing time necessary for estimating the posture can be shortened, and the posture can be estimated with high accuracy.