Patent ID: 8538671

Claim:
An apparatus for detecting a position and orientation of a mobile object, comprising: a relative position detection unit for acquiring a relative position and orientation of the mobile object with respect to a previous relative position and orientation of the mobile object; an absolute position detection unit for acquiring an absolute position of the mobile object; a position updating unit for updating the position and orientation of the mobile object based on a previous position and orientation of the mobile object and the relative position and orientation of the mobile object; and a position correction unit for correcting the position and orientation of the mobile object in accordance with the following equation: x t+1 = x a t+1 y t+1 = y a t+1 θ t+1 =a tan2( y t+1 −y t ,x t+1 −x t )+ dθ where, dθ=θ o t+1 − a tan2(y o t+1 −y o t ,x o t+1 −x o t ) , and where, (x t+1 , y t+1 , θ t+1 ) represents a corrected position and orientation of the mobile object (x a t+1 , y a t+1 ) represents the absolute position of the mobile object obtained by the absolute position detection unit, (x t , y t ) represents the previous position of the mobile object, (x o t , y o t ) represents the previous relative position of the mobile object obtained by the relative position detection unit, and (x o t+1 , y o t+1 , θ o t+1 ) represents the relative position and orientation of the mobile object obtained by the relative position detection unit.