Position detection device, position detection method, and computer program product

1. A position detection device comprising:

a position estimation unit, implemented as processing circuitry, configured to estimate a position of a moving object based on an absolute position of the moving object and a position change of the moving object obtained from autonomous navigation;

a position correction unit configured to correct, based on presence probability information which is information on each of a plurality of regions and indicates a higher probability as a presence frequency of the moving object is higher, the estimated position of the moving object so that the moving object is present at a position with a high probability;

an updating unit configured to update the presence probability information based on at least one of the estimated position of the moving object and an action of the moving object, wherein

the position correction unit corrects the estimated position of the moving object based on the updated presence probability information,

in a case of updating the presence probability information based on the estimated position of the moving object, the updating unit updates the presence probability information by increasing the probability indicated as the presence probability information corresponding to the estimated position of the moving object, and

the updating unit updates the presence probability information by calculating a path on which the moving object passes from the position of the moving object estimated during an arbitrary period and ascending the presence probability information corresponding to a position at which the moving object is present on the calculated path.

2. The device according to claim 1 , wherein, in a case of updating the presence probability information based on the action of the moving object, when a specific action is performed by the moving object, the updating unit updates the presence probability information by increasing the probability indicated as the presence probability information corresponding to a position at which the specific action that is registered in advance is performed.

3. The device according to claim 2 , wherein the position correction unit changes the correction of the estimated position of the moving object according to a kind of the specific action that is registered in advance.

4. The device according to claim 1 , wherein the position correction unit corrects the estimated position of the moving object by setting the absolute position of the moving object as a starting point of the path and performing at least one of an expansion and contraction correction of correcting a movement width of the moving object and a rotation correction of correcting a travel direction of the moving object at a position in which the moving object is present on the path after the starting point.

5. A position detection method comprising:

estimating, by processing circuitry, a position of a moving object based on an absolute position of the moving object and a position change of the moving object obtained from autonomous navigation;

correcting, based on presence probability information which is information on each of a plurality of regions and indicates a higher probability as a presence frequency of the moving object is higher, the estimated position of the moving object so that the moving object is present at a position with a high probability;

updating the presence probability information based on at least one of the estimated position of the moving object and an action of the moving object, wherein

the estimated position of the moving object is corrected based on the updated presence probability information,

in a case of updating the presence probability information based on the estimated position of the moving object, the presence probability information is updated by increasing the probability indicated as the presence probability information corresponding to the estimated position of the moving object, and

the presence probability information is updated by calculating a path on which the moving object passes from the position of the moving object estimated during an arbitrary period and ascending the presence probability information corresponding to a position at which the moving object is present on the calculated path.

6. A computer program product comprising a non-transitory computer-readable medium containing a position detection program, the program causing a computer to perform:

estimating a position of a moving object based on an absolute position of the moving object and a position change of the moving object obtained from autonomous navigation;

correcting, based on presence probability information which is information on each of a plurality of regions and indicates a higher probability as a presence frequency of the moving object is higher, the estimated position of the moving object so that the moving object is present at a position with a high probability;

updating the presence probability information based on at least one of the estimated position of the moving object and an action of the moving object, wherein

the estimated position of the moving object is corrected based on the updated presence probability information,

in a case of updating the presence probability information based on the estimated position of the moving object, the presence probability information is updated by increasing the probability indicated as the presence probability information corresponding to the estimated position of the moving object, and

the presence probability information is updated by calculating a path on which the moving object passes from the position of the moving object estimated during an arbitrary period and ascending the presence probability information corresponding to a position at which the moving object is present on the calculated path.