Patent Document ID: 9962839
Application ID: 15359939
Patent Status: 1

Claim One:
1. A control device of a movable apparatus comprising: at least one processor; and at least one computer-readable medium having stored therein instructions that, when executed by the at least one processor, causes the at least one processor to perform: extracting two-dimensional feature information regarding an object in an image captured by a camera attached to the movable apparatus; calculating information regarding a three-dimensional position of the object, the three-dimensional position of the object being a position of the object in a world coordinate system, wherein calculating the information regarding the three-dimensional position of the object is performed based on a position of the object within the image captured by the camera attached to the movable apparatus and position information of the camera or the movable apparatus in the world coordinate system; and controlling the movable apparatus based on the calculated information regarding the three-dimensional position of the object.