Patent ID: 8559674
Filing Date: 2013-10-15
Classification: B60R,G06T

Abstract:
1. A moving state estimating device comprising: a feature point candidate extracting part configured to extract initial feature point candidates in a first image taken at a first time point by an imaging sensor mounted on a moving body; a positional relation obtaining part configured to obtain a positional relation of an actual position of each initial feature point candidate relative to the moving body based on an output of a distance measuring sensor mounted on the moving body; a feature point selecting part configured to select one or more of the initial feature point candidates as one or more of selected feature points based on the positional relation; a corresponding point extracting part configured to extract a corresponding point in a second image taken by the imaging sensor at a second time point corresponding to each selected feature point; and a moving state estimating part configured to estimate a moving state of the moving body from the first time point to the second time point based on a coordinate of each selected feature point and a coordinate of each corresponding point.