{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1308485",
  "publishedAt": "2022-01-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B62D15/0285",
    "FAURECIA CLARION ELECTRONICS CO., LTD."
  ],
  "textContent": "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 regenerate the route on the basis of a result of comparison between the corrected position of the mobile object and the route.",
  "title": "POSITION ESTIMATION APPARATUS"
}