To obtain a position measuring device which can calculate self-positions with good accuracy, even when a lost state occurs that self-positions cannot be calculated on the basis of the geometric positional relationship of feature points in imaged images.SOLUTION: A position measuring device (100) comprises: an imaging unit (2) for imaging the ambient environment of a moving body to acquire an imaged image; a detection unit (3) for detecting motion information that indicates the motion of the moving body; a control unit (4) for extracting feature points from the imaged image; and a storage unit (5) for storing first position information that indicates the spatial position of feature points in the environment. The control unit searches for a position in the image that corresponds to the spatial position indicated by the first position information, and determines whether or not the position of the moving body in the environment is specified on the basis of the search result. The control unit calculates the position of the moving body on the basis of the specified position in the image when it is determined that the position of the moving body is specified, and calculates the position of the moving body on the basis of the motion information when determined not to be specified.SELECTED DRAWING: Figure 2

    【課題】撮像画像中の特徴点の幾何学的位置関係に基づいて自己位置を算出することができないロスト状態が発生した場合であっても、精度良く自己位置を算出することができる位置測定装置を得る。【解決手段】位置測定装置(100)は、移動体の周囲の環境を撮像して撮像画像を取得する撮像部(2)と、移動体の動きを示す動き情報を検出する検出部(3)と、撮像画像から特徴点を抽出する制御部(4)と、特徴点の環境における空間位置を示す第1位置情報を記憶する記憶部(5)とを備える。制御部は、撮像画像上で、第1位置情報が示す空間位置に対応する画像上の位置を探索し、探索結果に基づいて環境における移動体の位置が特定されるか否かを判断する。制御部は、移動体の位置が特定されると判断した場合、特定された画像上の位置に基づいて移動体の位置を算出し、特定されないと判断した場合、動き情報に基づいて移動体の位置を算出する。【選択図】図2


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    Title :

    POSITION MEASURING DEVICE


    Additional title:

    位置測定装置


    Contributors:

    Publication date :

    2022-03-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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