Patent ID: 8527235
Filing Date: 2013-09-03
Classification: G01S

Abstract:
1. An object position estimation system, which estimates a position of an object, comprising: a first observation unit that acquires pieces of first observation information including positions and identifications of the object at respectively different points of time; a first object position likelihood determination unit that, based upon the first observation information, determines first object position likelihoods corresponding to estimated positions of the object at the respectively different points of time; a first object identification likelihood determination unit that, based upon the identifications, determines first object identification likelihoods of the object at the respective points of time; a second observation unit that attaches second observation identifications to pieces of second observation information including the positions and amounts of feature of the object acquired at respectively different points of time; a second object position likelihood determination unit that, based upon the second observation information, determines second object position likelihoods corresponding to estimated positions of the object at the respective points of time; an object tracking state determination unit that determines, by making the second observation identifications of two pieces of the second observation information having a same amount of feature of the object, observed at different points of time, mutually associated with each other, tracking state information of the object; a second object identification likelihood determination unit that, based upon the tracking state information of the object and the estimated positions of the object, determines second object identification likelihoods of the second observation information; an association unit that, based upon the first object identification likelihoods and the first object position likelihoods of the object, calculates a first object association value, and based upon the second object identification likelihoods and the second object position likelihoods, calculates a second object association value; and an object position estimation unit that, based upon at least one of two groups, (1) the first object identification likelihoods, the first object position likelihoods, and the first object association value of the object, and (2) the second object identification likelihoods, the second object position likelihoods, and the second object association value of the object, estimates the position of the object.