Patent Document ID: 9026363
Application ID: 13803960
Patent Status: 1

Claim One:
1. A position detection device comprising: a position estimation unit, implemented as processing circuitry, configured to estimate a position of a moving object based on an absolute position of the moving object and a position change of the moving object obtained from autonomous navigation; a position correction unit configured to correct, based on presence probability information which is information on each of a plurality of regions and indicates a higher probability as a presence frequency of the moving object is higher, the estimated position of the moving object so that the moving object is present at a position with a high probability; an updating unit configured to update the presence probability information based on at least one of the estimated position of the moving object and an action of the moving object, wherein the position correction unit corrects the estimated position of the moving object based on the updated presence probability information, in a case of updating the presence probability information based on the estimated position of the moving object, the updating unit updates the presence probability information by increasing the probability indicated as the presence probability information corresponding to the estimated position of the moving object, and the updating unit updates the presence probability information by calculating a path on which the moving object passes from the position of the moving object estimated during an arbitrary period and ascending the presence probability information corresponding to a position at which the moving object is present on the calculated path.