Abstract: An article detection device includes: an image acquiring unit acquiring a surroundings image; a first information image preparing unit preparing a first information image by converting information on a load/unloading target portion of the article to an easily recognizable state based on the surroundings image; a first calculation unit calculating at least one of a position and a posture of the load/unloading target portion; a second information image preparing unit preparing a second information image by converting information on a pitch angle detection portion of the article to an easily recognizable state; and a second calculation unit configured extracting at least two edge candidates for the article extending in a specific direction and included in the second information image based on a calculation result from the first calculation unit and calculating a three-dimensional direction vector indicating a pitch angle of the article from the edge candidates.

Abstract: An own-position estimating device for estimating an own-position of a moving body by matching a feature extracted from an acquired image with a database in which position information and the feature are associated with each other in advance, includes an estimating unit estimating the own-position of the moving body by matching the feature extracted by the extracting unit with the database, and a determination threshold value adjusting unit adjusting a determination threshold value for extracting the feature, in which the determination threshold value adjusting unit acquires the database in a state in which the determination threshold value is adjusted, and adjusts the determination threshold value on the basis of the determination threshold value linked to each of the position information items in the database, and the extracting unit extracts the feature from the image by using the determination threshold value adjusted by the determination threshold value adjusting unit.

Abstract: An own-position estimating device for estimating an own-position of a moving body by matching a feature extracted from an acquired image with a database in which position information and the feature are associated with each other in advance, includes an evaluation result acquiring unit acquiring an evaluation result obtained by evaluating matching eligibility of the feature in the database, and a processing unit processing the database on the basis of the evaluation result acquired by the evaluation result acquiring unit.

Abstract: There is provided an item detection device that detects an item to be loaded and unloaded and includes an image acquisition unit acquiring a surrounding image obtained by capturing surroundings of the item detection device, an information image creation unit creating an information image, in which information related to a part to be loaded and unloaded in the item has been converted into an easily recognizable state, on the basis of the surrounding image, and a computing unit computing at least one of a position and a posture of the part to be loaded and unloaded on the basis of the information image.

Abstract: A display controller is a display device comprising an ? channel and having a function of synthesizing two images of plane X and plane Y at a mixture ratio of plane ?. When a character is superposed on the image of plane Y, an anti-aliasing program clears plane ? as initial setting and subjects the character to be displayed to anti-aliasing to form gray scale font data. Then, the anti-aliasing program fills a character display area of plane X with a display color and transfers the formed gray scale font data to plane ?.