公开(公告)号：EP3796257A1

公开(公告)日：2021-03-24

申请号：EP20156871.4

申请日：2020-02-12

申请人： Kabushiki Kaisha Toshiba ,  Toshiba Electronic Devices & Storage Corporation

发明人： Tazoe, Yusuke ,  Sano, Yuma ,  Seki, Akihito

IPC分类号： G06T7/277 ,  G06T7/70

摘要： According to an arrangement, an estimation device (20) includes an acquisition unit (21), a first estimation unit (22), a first calculation unit (23), a second estimation unit (24), a second calculation unit (25), and a determination unit (26). The acquisition unit (21) acquires an image captured by a camera. The first estimation unit (22) estimates first estimation information from the image. The first calculation unit (23) calculates first reliability of the first estimation information. The second estimation unit(24) estimates second estimation information. The second calculation unit (25) calculates second reliability of the second estimation information. The determination unit (26) decides at least the position or the pose of the camera from the first and second estimation information, based on the first and second reliability, and outputs at least the decided position or pose as a determination result. The second estimation unit (24) estimates the second estimation information based on a past determination result by the determination unit (26).