To provide a vehicle azimuth angle estimation method, or the like which can accurately estimate an azimuth angle of a vehicle.SOLUTION: A vehicle azimuth angle estimation method for estimating an azimuth angle in a front-back direction of an own vehicle includes: a correlation distribution calculation step S20 for calculating a distribution of correlation between a first Hough spectrum obtained by performing a Hough transform on an observation image as an image of a road on which the own vehicle travels and a second Hough spectrum obtained by performing the Hough transform on a map image corresponding to the observation image; and a probability distribution calculation step S30 for calculating an observation probability distribution as a probability distribution of an azimuth angle error relative to the map image of the observation image on the basis of the correlation distribution.SELECTED DRAWING: Figure 12
【課題】精度良く車両の方位角を推定できる車両方位角推定方法などを提供する。【解決手段】車両方位角推定方法は、自車両の前後方向の方位角を推定する方法であって、自車両が走行する道路の画像である観測画像をハフ変換することによって得られる第一ハフスペクトラムと、観測画像に対応する地図画像をハフ変換することによって得られる第二ハフスペクトラムとの相関分布を算出する相関分布算出ステップS20と、相関分布に基づいて、観測画像の地図画像に対する方位角誤差の確率分布である観測確率分布を算出する確率分布算出ステップS30とを含む。【選択図】図12
VEHICLE AZIMUTH ANGLE ESTIMATION METHOD, PROGRAM, VEHICLE AZIMUTH ANGLE ESTIMATION DEVICE, AND AUTONOMOUS MOBILE BODY
車両方位角推定方法、プログラム、車両方位角推定装置、及び自律移動体
2024-11-14
Patent
Electronic Resource
Japanese
IPC: | 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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