To provide a movable body monitoring device which can improve the versatility of calibration of an infrastructure sensor.SOLUTION: A movable body monitoring device includes: a measurement part 21; a static information extraction part 202; a calibration reference storage part 301; and an attitude estimation part 305. The measurement part 21 measures the surrounding environment and outputs measurement information of a measurement point. The static information extraction part 202 extracts only the measurement point with no positional change for a prescribed time as static information based on the measurement information. The calibration reference storage part 301 stores the calibration reference (survey information) measured in a reference coordinate system. The attitude estimation part 305 estimates the attitude of the measurement part 21 in the reference coordinate system based on the calibration reference and static information, and outputs the attitude information.SELECTED DRAWING: Figure 6
【課題】インフラセンサの較正の汎用性を向上できる移動体監視装置を提供する。【解決手段】移動体監視装置は、計測部21と、静的情報抽出部202と、較正基準記憶部301と、姿勢推定部305とを備える。計測部21は、周辺環境を計測し計測点の計測情報を出力する。静的情報抽出部202は、計測情報に基づき所定時間位置変化のない計測点のみを静的情報として抽出する。較正基準記憶部301は、基準座標系で計測された較正基準(測量情報)を記憶する。姿勢推定部305は、較正基準と静的情報に基づき基準座標系における計測部21の姿勢を推定し姿勢情報を出力する。【選択図】図6
MOVABLE BODY MONITORING DEVICE
移動体監視装置
2024-08-20
Patent
Electronic Resource
Japanese
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