Patent ID: 8401234

Claim:
An object position correction apparatus comprising: an object position estimation unit which, based on (1) an ID likelihood and (2) an observed position of each of objects obtained by respectively observing a plurality of objects existing in an environment by an observing device, as well as (3) a prediction distribution indicating an existence probability of a position of each of the objects that is formed based on estimation results of an ID and a position of each of the objects obtained based on an ID likelihood and an observed position of each of the objects acquired at time of a previous observation, estimates the ID and the position of the object so that an estimated position of the object is obtained; a center-of-gravity position calculation unit that calculates a position of a center-of-gravity of the observed position; and an object position correction unit which, based on a distance and a direction from the center-of-gravity position calculated by the center-of-gravity position calculation unit, carries out a correction on the estimated position of the object; wherein the object position correction unit shifts the estimated position of the object from the center-of-gravity position in a direction relative to the estimated position of the object by a length corresponding to a corrected distance calculated by performing weighting on a distance from the center-of-gravity position to the estimated position of the object.