ATTITUDE ESTIMATING DEVICE, ATTITUDE ESTIMATING METHOD, AND ATTITUDE ESTIMATING PROGRAM

To provide an attitude estimating device, an attitude estimating method and an attitude estimating program with which it is possible to more accurately estimate an attitude.SOLUTION: An attitude estimating device comprises: an acquisition unit for acquiring angular speed and acceleration information from a plurality of sensors for detecting an angular speed and acceleration and attached at a plurality of points of an estimation object which is a person, an animal, or a robot the movable regions of joints of which are limited; a conversion unit for converting the information acquired by the acquisition unit to information in a reference coordinate system from a sensor coordinate system; an integration unit for integrating the angular speed thus converted and thereby calculating the direction of a reference portion of the estimation object where a sensor is attached as part of the attitude of the estimation object; and a correction unit for assuming a representative plane passing through the reference portion and included in the estimation object and correcting the converted angular speed of the reference portion so that the normal of the representative plane and the direction of the reference portion calculated by the integration unit come close to an intersecting direction.SELECTED DRAWING: Figure 1 【課題】より正確な姿勢推定ができる姿勢推定装置、姿勢推定方法、および姿勢推定プログラムを提供することを目的の一つとする。【解決手段】人、動物、または関節の可動域が制限されたロボットである推定対象の複数の箇所に取り付けられ、角速度および加速度を検出する複数のセンサから、角速度および加速度の情報を取得する取得部と、前記取得部により取得された情報を、センサ座標系から基準座標系の情報に変換する変換部と、前記変換された前記角速度を積分することで、前記推定対象において前記センサが取り付けられた参照部位の向きを前記推定対象の姿勢の一部として算出する積分部と、前記推定対象に含まれる基準部位を通る代表平面を想定し、前記代表平面の法線と、前記積分部により算出される前記参照部位の向きが直交する方向に近づくように、前記参照部位の前記変換された角速度を補正する補正部と、を備える。【選択図】図１