Abstract: The own vehicle position estimator 17 of the in-vehicle device 1 acquires the predicted own vehicle position X? (t) that is a predicted value of the present position and the orientation of the moving body. Then, the own vehicle position estimator 17 acquires: the relative angle L? (t) that is first orientation information indicative of the orientation of the landmark with respect to the vehicle specified based on the measurement data of the landmark by the lidar 2; and the relative angle L?? (t) that is second orientation information indicative of the orientation of the landmark with respect to the vehicle into which the orientation of the landmark indicated by the landmark information is converted. The own vehicle position estimator 17 corrects the predicted own vehicle position X?(t) based on the difference between the relative angle L?(t) and the relative angle L??(t).

Abstract: The measurement device acquires output data from a sensor unit for detecting road surface lines around, and determines a predetermined range based on an own position and positional information of broken-line type road surface lines. Then, the measurement device extract, from the output data, data corresponding to detection result of the predetermined range, and executes predetermined processing based on the extracted data.

Abstract: A self-position estimation device is mounted on a mobile body and acquires a predicted position of the mobile body. Additionally, the self-position estimation device calculates a difference value between a predicted position of an end point of a lane division line that is obtained based on information on the end point of the lane division line acquired from map information and a measured position of the end point of the lane division line measured in such a manner that a measurement unit mounted on the mobile body performs scanning with a light in a predetermined direction. The self-position estimation device estimates a self-position of the mobile body by correcting the predicted position with a value obtained by multiplying the difference value by a coefficient. Further, the self-position estimation device corrects the coefficient based on an interval of scanning positions of the measurement unit at a position where the end point of the lane division line is detected.

Abstract: A measurement device includes a processor coupled to a memory storing instructions. The processor is configured to acquire positional information of a measurement object stored in a storage unit, acquire point group information of points indicating a surrounding feature acquired by an external sensor, output reliability of the positional information of the measurement object indicating a center position of the measurement object existing in a predetermined range based on the point group information of points existing in the predetermined range, the predetermined range being determined based on a position of a movable body, and estimate a movable body position based on the positional information of the measurement object and the center position of the measurement object, wherein the processor determines the center position by calculating an average value of the point group information existing in the predetermined range.

Abstract: A self-position estimation device is mounted on a mobile body and acquires a predicted position of the mobile body. Additionally, the self-position estimation device calculates a difference value between a predicted position of an end point of a lane division line that is obtained based on information on the end point of the lane division line acquired from map information and a measured position of the end point of the lane division line measured in such a manner that a measurement unit mounted on the mobile body performs scanning with a light in a predetermined direction. The self-position estimation device estimates a self-position of the mobile body by correcting the predicted position with a value obtained by multiplying the difference value by a coefficient. Further, the self-position estimation device corrects the coefficient based on an interval of scanning positions of the measurement unit at a position where the end point of the lane division line is detected.

Abstract: An information processing apparatus (1) according to an embodiment includes: a detection unit (100a to 100d, 200a to 200c) that detects a target based on an observation value acquired from an output of a sensor, a generation unit (301) that generates observation identification information, in which the target detected by the detection unit based on the observation value is associated with the sensor relating to the observation value, and a control unit (300) that controls holding, in a holding unit, of the observation identification information generated by the generation unit. The generation unit generates the observation identification information for each of one or more targets detected by the detection unit.

Abstract: The above measurement device acquires output data from a sensor unit for detecting surrounding feature, and extracts, from the output data, data corresponding to detection result in a predetermined range in a predetermined positional relation with an own position. The predetermined range is determined in accordance with accuracy of the own position. Then, the measurement device executes predetermined processing based on the extracted data.

Abstract: A measurement device includes a first acquisition unit configured to acquire positional information of a measurement object stored in a storage unit, a second acquisition unit configured to acquire point group information of points indicating a surrounding feature acquired by an external sensor, and an output unit configured to output reliability of the positional information indicating a predetermined position of the measurement object existing in a predetermined range based on the point group information existing in the predetermined range.

Abstract: The measurement device acquires positional information of a measurement object stored in a storage unit, and acquires point group information of points indicating a surrounding feature acquired by an external sensor. Then, the measurement device calculates the positional information indicating a predetermined position of the measurement object existing in a predetermined range based on the point group information existing in the predetermined range, and outputs its reliability.

Abstract: The above measurement device acquires output data from a sensor unit for detecting surrounding feature, and extracts, from the output data, data corresponding to detection result in a predetermined range in a predetermined positional relation with an own position. The predetermined range is determined in accordance with accuracy of the own position. Then, the measurement device executes predetermined processing based on the extracted data.

Abstract: The own vehicle position estimator 17 of the in-vehicle device 1 acquires the predicted own vehicle position X? (t) that is a predicted value of the present position and the orientation of the moving body. Then, the own vehicle position estimator 17 acquires: the relative angle L? (t) that is first orientation information indicative of the orientation of the landmark with respect to the vehicle specified based on the measurement data of the landmark by the lidar 2; and the relative angle L?? (t) that is second orientation information indicative of the orientation of the landmark with respect to the vehicle into which the orientation of the landmark indicated by the landmark information is converted. The own vehicle position estimator 17 corrects the predicted own vehicle position X?(t) based on the difference between the relative angle L?(t) and the relative angle L??(t).

Abstract: A self-position estimation device is mounted on a mobile body and acquires a predicted position of the mobile body. Additionally, the self-position estimation device calculates a difference value between a predicted position of an end point of a lane division line that is obtained based on information on the end point of the lane division line acquired from map information and a measured position of the end point of the lane division line measured in such a manner that a measurement unit mounted on the mobile body performs scanning with a light in a predetermined direction. The self-position estimation device estimates a self-position of the mobile body by correcting the predicted position with a value obtained by multiplying the difference value by a coefficient. Further, the self-position estimation device corrects the coefficient based on an interval of scanning positions of the measurement unit at a position where the end point of the lane division line is detected.

Abstract: The above measurement device acquires output data from a sensor unit for detecting surrounding feature, and extracts, from the output data, data corresponding to detection result in a predetermined range in a predetermined positional relation with an own position. The predetermined range is determined in accordance with accuracy of the own position. Then, the measurement device executes predetermined processing based on the extracted data.

Abstract: The measurement device acquires output data from a sensor unit for detecting road surface lines around, and determines a predetermined range based on an own position and positional information of broken-line type road surface lines. Then, the measurement device extract, from the output data, data corresponding to detection result of the predetermined range, and executes predetermined processing based on the extracted data.

Abstract: The measurement device acquires positional information of a measurement object stored in a storage unit, and acquires point group information of points indicating a surrounding feature acquired by an external sensor. Then, the measurement device calculates the positional information indicating a predetermined position of the measurement object existing in a predetermined range based on the point group information existing in the predetermined range, and outputs its reliability.