AUTONOMOUS MOBILE DEVICE AND SELF-POSITION ESTIMATION DEVICE

To provide an autonomous mobile device and a self-position estimation device that are able to improve the estimation accuracy of a self-position.SOLUTION: An autonomous mobile device includes a camera and an information processing device that estimates its own position. The information processing device performs: image cut-out in which, based on building information indicating a position and a height of a building on a map, an image including a region of the building is cut out from an image captured by the camera; a feature-point extraction in which a feature point of the building is extracted from the cut-out image; and self-position estimation in which a time-series movement of a feature point is calculated from the feature point of the building extracted at a first time point and the feature point of the building extracted at a second time point before the first time point, and the self-position at the first time point is estimated based on the self-position at the second time point and the time-series movement of the feature point.SELECTED DRAWING: Figure 1A 【課題】自己位置の推定精度を向上できる自律移動装置及び自己位置推定装置を提供する。【解決手段】自律移動装置は、カメラと、自己位置を推定する情報処理装置とを含む。情報処理装置は、地図上の建築物の位置及び高さを示す建築物情報に基づいて、カメラによって撮像された撮像画像から建築物の領域を含む画像を切り出す画像切り出しと、切り出した画像から建築物の特徴点を抽出する特徴点抽出と、第１時点にて抽出された建築物の特徴点、及び、第１時点より前の第２時点にて抽出された建築物の特徴点から特徴点の時系列の動きを計算し、第２時点の自己位置及び特徴点の時系列の動きに基づいて、第１時点の自己位置を推定する自己位置推定と、を行う。【選択図】図１Ａ