{
  "$type": "site.standard.document",
  "description": "A first calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. A second calculator extracts one marker from a captured image, calculates absolute position and attitude of the vehicle based on a position and an…",
  "path": "/patents/1416051",
  "publishedAt": "2023-10-04T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/005",
    "PANASONIC IP MAN CO LTD [JP]"
  ],
  "textContent": "A first calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. A second calculator extracts one marker from a captured image, calculates absolute position and attitude of the vehicle based on a position and an attitude of the one extracted marker, and calculates an angle of a direction of the vehicle 1 with respect to a normal line to a plane of the one marker 4 based on a position and an attitude of the vehicle 1 in a marker coordinate system. A corrector generates a corrected position and attitude, not using the absolute position and attitude calculated based on the marker for which the angle is not larger than a first threshold, but using the absolute position and attitude calculated based on the marker for which the angle is larger than the first threshold.",
  "title": "POSITIONING APPARATUS AND MOVING BODY"
}