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公开(公告)号：US12211230B2
公开(公告)日：2025-01-28
申请号：US17879127
申请日：2022-08-02
Inventor： Ukyou Katsura , Tsukasa Okada , Tomohide Ishigami
Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from an image captured by the image capturing apparatus, and calculates absolute position and attitude of the vehicle, based on position and attitude of the one extracted marker. A corrector calculates the corrected position and attitude, not using the absolute position and attitude calculated based on the position and attitude of the marker when a difference or ratio of an apparent height and width of the marker in the image is equal to or smaller than a threshold, but using the absolute position and attitude calculated based on the position and attitude of the marker when the difference or ratio is larger than the threshold.
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公开(公告)号：US10402998B2
公开(公告)日：2019-09-03
申请号：US15716923
申请日：2017-09-27
Inventor： Tomohide Ishigami
Abstract: A position estimation apparatus which estimates a position of a mobile object in a space includes: a measurement unit which measures, for each of points in a local space in proximity to the mobile object, a position and an attribute; an extractor which extracts position information and attribute information from a result of the measuring by the measurement unit, for each measurement voxel in a group of measurement voxels arrayed three-dimensionally in association with the local space; a map manager which manages position information and attribute information, for each map voxel in a group of map voxels arrayed three-dimensionally in association with the space represented by a map; and a position estimator which estimates a position of the mobile object, based on a position information approximation degree and an attribute information approximation degree.
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