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Position-posture calculation method and position-posture calculation program
Position-posture calculation method and position-posture calculation program
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机译：位姿计算方法及位姿计算程序
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摘要
PROBLEM TO BE SOLVED: To obtain an acquisition position and posture of in-vehicle data (moving image, LiDAR data, etc.) acquired by a moving body or an acquisition device mounted on the moving body at high speed and with high accuracy. SOLUTION: In estimating the position and posture using a 3D environment map, in the movement route comparison process, the vehicle-mounted data travel route 400 and the route information of the map groups 301 to 312 are compared, and the travel route and the route are close to each other. It is determined whether or not the map group partially overlaps, and the map groups 301, 305, 306, 310, and 311 whose travel route and the route do not overlap are excluded (step S1). Next, in the movement direction comparison process, it is determined whether the traveling directions are the same, and different map groups 307 to 309 and 312 having opposite traveling directions such as opposite / orthogonal are excluded (step S2). Then, the map groups 302, 303, and 304 are narrowed down, and the acquired positions and postures of the vehicle-mounted data acquired by the moving body are calculated by using the narrowed down map groups 302 to 304. [Selection diagram] FIG. 4
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