Abstract: Provided are a self-map generation device and a self-position estimation device with which it is possible to achieve high-accuracy self-position estimation even when an observation error due to a sensor is large by estimating an error amount of a landmark serving as an observation point and improving the quality of a self-generated point group map.

Abstract: An object is to provide a map creation/self-location estimation device capable of estimating a location/attitude of an ego vehicle with high accuracy.

Abstract: A travel amount estimation apparatus includes a vehicle travel amount calculation unit, a sensor travel amount calculation unit, an error cause determination unit, and a vehicle travel amount correction unit. The vehicle travel amount calculation unit acquires vehicle information and calculates a vehicle travel amount based on the vehicle information. The sensor travel amount calculation unit acquires sensor information from an external sensor and calculates a sensor travel amount based on the sensor information. The error cause determination unit determines an error cause of the vehicle travel amount. The vehicle travel amount correction unit corrects the vehicle travel amount by using the sensor travel amount in accordance with the error cause and estimates a travel amount of the vehicle on which it is mounted.

Abstract: Calibration with high accuracy can be realized even when performing the calibration while running on the actual road.

Abstract: High precision calibration of external parameters is possible even when the surrounding road surface is configured from a plurality of flat surfaces.

Abstract: An information processing apparatus includes: a point group data acquisition unit configured to acquire, based on information from a sensor configured to detect an object existing in surroundings of a vehicle, point group data related to a plurality of points representing the object; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a storage unit configured to store, as a point group map recorded in association with position information including a latitude and a longitude, relative positions of the plurality of points relative to a first reference position that is a place on a travel path of the vehicle; and a position estimation unit configured to estimate a position of the vehicle based on the point group map, the point group data, and the movement amount.

Abstract: An in-vehicle processing apparatus is capable of performing position estimation resistant to disturbance.

Abstract: An external recognition device that detects and tracks a moving object includes an object position detection unit that detects a position of the moving object as an observation value, based on an image; a region determination unit that determines a region to which the moving object belongs in the image, based on the observation value; an observation error setting unit that calculates an error to an observation value, based on a determination result; a state prediction unit that predicts a state of the moving object at a current time, based on the observation value up to a previous time that is a time earlier than the current time and the error; an association unit that associates the state of the moving object at the current time with the observation value; and a state update unit that updates the state of the moving object, based on a result of the association.

Abstract: There are provided a calibration apparatus and method capable of obtaining a high-precision calibration result by taking out only feature points on a road surface from images captured by an in-vehicle camera which is a calibration target. A road surface range is estimated by using feature points appearing in an image(s) captured by a camera (a front camera 102 or a rear camera 103) that is not a camera on which the calibration is executed (a side camera 106); and the calibration is executed by using only feature points existing within the estimated road surface range from among the feature points appearing in an image(s) captured by the camera on which the calibration is executed.

Abstract: High precision calibration of external parameters is possible even when the surrounding road surface is configured from a plurality of flat surfaces.

Abstract: The present invention aims at obtaining an in-vehicle processing apparatus for automatically selecting modes. An in-vehicle processing apparatus 120 according to the present invention includes a mode switching unit 121D that makes a transition, based on latitude-longitude positioning information of a vehicle, between: a map storage mode 202 to acquire and store point group data in a storage unit when a vehicle 1 approaches a preset registered spot and point group data of surroundings of the vehicle is not stored in the storage unit 124; and a position estimation mode 203 to have a position estimation unit 121C estimate a position of the vehicle when the vehicle approaches the registered spot and the point group data of surroundings of the vehicle is stored in the storage unit.

Abstract: A calibration system is mounted in a vehicle and is provided with: an attitude sensor that acquires attitude information regarding a vehicle coordinate system of the vehicle; an image pickup unit that captures an image of the surroundings of the vehicle; an attitude-sensor reliability level calculation unit that calculates an attitude-sensor reliability level that is a reliability level of the attitude sensor; and an attitude use estimation unit that estimates, in the case where the calculated attitude-sensor reliability level is greater than a predetermined threshold, an external parameter of the image pickup unit using the attitude information output by the attitude sensor and a relationship of a coordinate system of the image pickup unit to the vehicle coordinate system.

Abstract: Calibration with high accuracy can be realized even when performing the calibration while running on the actual road.

Abstract: A travel amount estimation apparatus 10 includes a vehicle travel amount calculation unit 14, a sensor travel amount calculation unit 11, an error cause determination unit 16, and a vehicle travel amount correction unit 17. The vehicle travel amount calculation unit 14 acquires vehicle information 30 related to traveling of an own-vehicle and calculates a vehicle travel amount indicating a travel amount of the own-vehicle based on the vehicle information 30. The sensor travel amount calculation unit 11 acquires sensor information related to a surrounding environment of the own-vehicle from an external sensor 20 and calculates a sensor travel amount indicating a travel amount of the own-vehicle based on the sensor information. The error cause determination unit 16 determines an error cause of the vehicle travel amount.

Abstract: A position estimation apparatus includes: an image information calculation unit that extracts each of image feature points from a plurality of images which are sequentially captured and associates the image feature points with each other between the plurality of images; a travel amount calculation unit that estimates the position of the mobile object; a three-dimensional image feature point calculation unit that estimates a three-dimensional position of the image feature point in a real space on the basis of a result of associating the image feature points with each other and the position of the mobile object; a position correction unit that corrects the three-dimensional position and the position of the mobile object so as to reduce a position error between a position of the three-dimensional position, when the three-dimensional position is reprojected onto any one of the plurality of images, in the relevant image and the image feature point; a route regeneration judgment unit that judges whether or not to r

Abstract: An overhead-view image generation device includes: a moving amount calculation unit that calculates a moving distance of a vehicle; a linear overhead-view image generation unit that generates an overhead-view image obtained by conversion of a viewpoint of a captured image of a camera into an overhead viewpoint, and generates a linear overhead-view image obtained by conversion of a shape of the generated overhead-view image into a linear shape; a distance-based turning angle generation unit that calculates, using a turning amount of the vehicle indicated by sensor data of a steering angle sensor and the moving distance calculated by the moving amount calculation unit, distance-based turning angle information indicating a turning angle of the vehicle based on the moving distance; and an overhead-view image reconstruction unit that reconstructs the overhead-view image using the linear overhead-view image and the distance-based turning angle information.

Abstract: An in-vehicle processing apparatus includes: a storage unit configured to store point group data, which is created based on output of a sensor for acquiring information about surroundings of a vehicle, including an environmental condition which is a condition for an ambient environment when the output of the sensor is acquired, and including a plurality of coordinates of points indicating parts of objects in a first coordinate system; a sensor input unit configured to acquire the output of the sensor; a current environment acquisition unit configured to acquire the environmental condition; a movement information acquisition unit configured to acquire information about movements of the vehicle; a local peripheral information creation unit configured to generate local peripheral information including a position of the vehicle in a second coordinate system and a plurality of coordinates of points indicating parts of objects in the second coordinate system on the basis of the information acquired by the sensor in

Abstract: Provided is an on-vehicle processing device that can estimate the position of a vehicle with higher accuracy. A storage unit stores a parking lot point group including a plurality of coordinates of points of a part of an object in a parking lot coordinate system. A sensor input unit acquires peripheral information from a camera. A movement information acquisition unit acquires movement information. A local peripheral information creation unit generates local peripheral information expressing second point group data including a position of the vehicle in a local coordinate system and a plurality of coordinates of points of a part of the object in the local coordinate system on the basis of the peripheral information and the movement information.

Abstract: An information processing apparatus includes: a point group data acquisition unit configured to acquire, based on information from a sensor configured to detect an object existing in surroundings of a vehicle, point group data related to a plurality of points representing the object; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a storage unit configured to store, as a point group map recorded in association with position information including a latitude and a longitude, relative positions of the plurality of points relative to a first reference position that is a place on a travel path of the vehicle; and a position estimation unit configured to estimate a position of the vehicle based on the point group map, the point group data, and the movement amount.

Abstract: The present invention aims at obtaining an in-vehicle processing apparatus for automatically selecting modes. An in-vehicle processing apparatus 120 according to the present invention includes a mode switching unit 121D that makes a transition, based on latitude-longitude positioning information of a vehicle, between: a map storage mode 202 to acquire and store point group data in a storage unit when a vehicle 1 approaches a preset registered spot and point group data of surroundings of the vehicle is not stored in the storage unit 124; and a position estimation mode 203 to have a position estimation unit 121C estimate a position of the vehicle when the vehicle approaches the registered spot and the point group data of surroundings of the vehicle is stored in the storage unit.