Title:
POSITIONING APPARATUS AND POSITIONING METHOD
Document Type and Number:
WIPO Patent Application WO/2012/086821
Kind Code:
A1
Abstract:
Disclosed is a positioning apparatus, which includes: an image pickup means, which picks up a first scenery image; a feature extracting means, which extracts first image features from the first scenery image; a rough position information acquiring means, which acquires first position information; a scenery image feature storage means, which associates with each other second position information on a moving path, on which a movable body can move, and second image features of a second scenery image picked up on the moving path, and stores the second position information and the second image features; a candidate scenery image data selecting means, which selects, on the basis of a distance between a point that the first position information indicates, and a point that the second position information indicates, a plurality of pieces of the second position information and the second image features that correspond to the second position information; a relative position calculating means, which performs matching between the first image features and the second image features, and calculates relative position information of the first point and the second point; and a relative position matching determining means, which determines whether the plurality of pieces of the relative position information matched, and on the basis of the determination results, outputs the final position information of the movable body.
Inventors:
TAKAHASHI, Katsuhiko (7-1Shiba 5-chome, Minato-k, Tokyo 01, 〒1088001, JP)
Application Number:
JP2011/079954
Publication Date:
June 28, 2012
Filing Date:
December 16, 2011
Export Citation:
Assignee:
NEC CORPORATION (7-1Shiba 5-chome, Minato-ku Tokyo, 01, 〒1088001, JP)
日本電気株式会社 (〒01 東京都港区芝五丁目７番１号 Tokyo, 〒1088001, JP)
日本電気株式会社 (〒01 東京都港区芝五丁目７番１号 Tokyo, 〒1088001, JP)
International Classes:
G01B11/00; G01C15/00; G01C21/28; G05D1/02
Attorney, Agent or Firm:
SHIMOSAKA, Naoki (7-1Shiba 5-chome, Minato-k, Tokyo 01, 〒1088001, JP)
Claims: