Patent Document ID: 9846043
Application ID: 14967761
Patent Status: 1

Claim One:
1. A map creation apparatus comprising a processor and a non-transitory storage medium storing one or more programs of instructions that, when executed by the processor of the map creation apparatus, cause the map creation apparatus to perform a method comprising: (a) receiving images in time series while the apparatus is moving; (b) extracting an image area indicating an object from the images received in (a) and calculating a coordinate of the object in a world coordinate system; (c) tracking the object in the extracted image area with the images input in sequence and calculating an optical flow of the object; (d) calculating a difference between a coordinate of a first vanishing point generated by the movement of the apparatus and a coordinate of a second vanishing point generated by a movement of the object based on the optical flow calculated in (c) and eliminating the image area of the object from the images when the object is determined to be a moving object based on the calculated difference; (e) storing map information including the coordinate of the object, not eliminated in (d), in the world coordinate system; (f) determining that an object newly extracted is same as the object under tracking, and eliminating the newly-extracted object and stopping the tracking, when it is determined that the object newly extracted is same as the object under tracking; and (g) calculating an error between (i) the coordinate of the object in a camera coordinate system that indicates a coordinate system based on the apparatus and (ii) a coordinate which is re-projected onto the camera coordinate system from a coordinate of the object in the world coordinate system in the map information; and deleting the map information of the object stored in (e) and updating the map information when the calculated error is not less than a preset threshold.