{
  "$type": "site.standard.document",
  "description": "A moving object location/attitude angle estimation device (10) of the present invention acquires a fish-eye lens image capturing a surrounding environment of a moving object with a fish-eye lens, and acquires a less distorted pinhole image for a predetermined region of the fish-eye lens image…",
  "path": "/patents/956826",
  "publishedAt": "2015-10-21T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/28",
    "NISSAN MOTOR [JP]"
  ],
  "textContent": "A moving object location/attitude angle estimation device (10) of the present invention acquires a fish-eye lens image capturing a surrounding environment of a moving object with a fish-eye lens, and acquires a less distorted pinhole image for a predetermined region of the fish-eye lens image. Then, a bend degree of a driving road in a travelling direction of the moving object is detected. When the detected bend degree is less than a predetermined value, the pinhole image is selected. On the other hand, when the bend degree is not less than the predetermined value, the fish-eye lens image is selected. Thereafter, a location and an attitude angle of the moving object are estimated by matching an edge information of the selected image with a three-dimensional map data.",
  "title": "MOVING OBJECT LOCATION/ATTITUDE ANGLE ESTIMATION DEVICE AND MOVING OBJECT LOCATION/ATTITUDE ANGLE ESTIMATION METHOD"
}