Patent ID: 11107240

Abstract:
Disclosed are a self position estimation device, a self position estimation method, a program, and an image processing device that suppress imaging and movement other than a work purpose of a robot, do not need a landmark, and do not need special imaging equipment for application of the robot other than the work purpose. A self position estimation device (400) includes a first structure image acquisition unit (401) that acquires a plurality of structure images including a first structure image and a second structure image, a panorama composition unit (403) that generates a panorama composite image by subjecting the plurality of structure images including the first structure image and the second structure image to panorama composition, a first image coordinate acquisition unit (405) that acquires second image coordinates as coordinates of a specific position of the second structure image, and a first relative position coordinate calculation unit (407) that calculates relative position coordinates as relative actual coordinates of a second position as a relative self position using a transformation coefficient for transformation from an image coordinate system to an actual coordinate system.