Title:
POSITION ESTIMATING DEVICE, POSITION ESTIMATING METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2018/235923
Kind Code:
A1
Abstract:
This position estimating device accepts moving image data including a series of frames obtained by capturing images of a subject on a movement pathway while moving, extracts a feature point relating to the subject captured in each frame included in the moving image data, and creates a reconfiguration map in which the feature point is associated with coordinates in a reconfiguration space, which is a prescribed virtual three-dimensional space. The position estimating device retrieves a reference feature point corresponding to the feature point in reference image data associated with position information, acquires a transformation relationship between a world coordinate system, which is a coordinate system of the position information, and a coordinate system of the coordinate associated with the feature point, and uses the transformation relationship to correct the reconfiguration map by performing correction to scale of an amount of movement of a camera which captured the moving image data, while suppressing a change in an estimated result of a position and attitude of the camera, represented using the coordinates in the reconfiguration space, and by performing correction such that the position and attitude of the camera approach the position information associated with the reference image data.
Inventors:
AIZAWA KIYOHARU (JP)
IWAMI KAZUYA (JP)
IWAMI KAZUYA (JP)
Application Number:
PCT/JP2018/023697
Publication Date:
December 27, 2018
Filing Date:
June 21, 2018
Export Citation:
Assignee:
UNIV TOKYO (JP)
International Classes:
G06T7/70
Foreign References:
| JP2013535013A | 2013-09-09 |
Other References:
IWAMI, KAZUYA ET AL.: "Global Metric Localization and Correction of Scale Drift using Street View", IEICE TECHNICAL REPORT, vol. 117, no. 106, 15 June 2017 (2017-06-15), pages 69 - 74
CHANG, SHAOPIN ET AL.: "Extracting Driving Behavior: Global Metric Localization from Dashcam Video in the Wild", COMPUTER VISION - ECCV 2016 WORKSHOPS, 2016, pages 136 - 148, XP055565003
CHANG, SHAOPIN ET AL.: "Extracting Driving Behavior: Global Metric Localization from Dashcam Video in the Wild", COMPUTER VISION - ECCV 2016 WORKSHOPS, 2016, pages 136 - 148, XP055565003
Attorney, Agent or Firm:
TAKEI Nobutoshi (JP)
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