Moving-object position/attitude estimation apparatus and moving-object position/attitude estimation method
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United States of America Patent
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Oct 24, 2017
Grant Date -
Jan 15, 2015
app pub date -
Feb 28, 2013
filing date -
Mar 6, 2012
priority date (Note) -
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status (Latency Note)
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Abstract
A moving-object position/attitude estimation apparatus includes: an image-capturing unit configured to acquire a captured image; a comparative image acquiring unit configured to acquire a comparative image viewed from a predetermined position at a predetermined attitude angle; a likelihood setting unit configured to compare the captured image with the comparative image and to assigns a high attitude angle likelihood to the comparative image and to assigns a high position likelihood to the comparative image; a moving-object position/attitude estimation unit configured to estimate the attitude angle of the moving object based on the attitude angle of the comparative image assigned the high attitude angle likelihood and to estimate the position of the moving object based on the position of the comparative image assigned the high position likelihood.
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