Position estimating apparatus, position estimating method, and terminal apparatus

1. An electronic apparatus for estimating a position of a target apparatus external to the electronic apparatus, the electronic apparatus comprising:

receiver circuitry configured to receive a radio wave sent from the target apparatus, the radio wave including radio information available for estimating the position of the target apparatus; and

controller circuitry configured to:

estimate first position information of the target apparatus based on a captured image of the target apparatus; and

estimate second position information of the target apparatus based on the radio wave,

wherein the controller circuitry is configured to learn, based on the radio wave, a radio parameter related to the radio information and available for estimating the position of the target apparatus to estimate the second position information of the target apparatus by using the first position information; and

wherein the controller circuitry is configured to obtain a degree of reliance of the first position information on the basis of the captured image.

2. The electronic apparatus according to claim 1 , wherein the controller circuitry is configured to obtain degree of reliance of the first position information on the basis of the radio wave.

3. The electronic apparatus according to claim 1 , wherein the controller circuitry is configured to learn the radio parameter on the basis of the radio wave and the degree of reliance of the first position information in addition to the first position information.

4. The electronic apparatus according to claim 3 ,

wherein the controller circuitry is configured to update the radio parameter on the basis of the radio wave and the first position information in a case where the degree of reliance of the first position information is a threshold or more; and

the controller circuitry is configured not to update the radio parameter in a case where the degree of reliance of the first position information is less than the threshold.

5. The electronic apparatus according to claim 4 , wherein the controller circuitry is configured to:

estimate the second position information on the basis of the first position information in a case where the degree of reliance of the first position information is equal to the threshold or more, and

estimate the second position information on the basis of the radio wave and the radio parameter in a case where the degree of reliance of the first position information is less than the threshold.

6. The electronic apparatus according to claim 1 , further comprising:

transmitter circuitry configured to transmit information; and

at least one antenna configured to connect to the receiver circuitry and the transmitter circuitry.

7. The electronic apparatus according to claim 1 , wherein the radio information includes at least one of received power, reception timing, reception direction, indication of a decoding result, an error vector magnitude of the radio wave, or a frequency spectrum.

8. A position estimating method comprising:

receiving a radio wave sent from a target, the radio wave including radio information available for estimating a position of the target;

estimating first position information of the target based on a captured image of the target;

learning, based on the radio wave, a radio parameter related to the radio information and available for estimating the position of the target by using the first position information;

estimating second position information of the target based on the radio wave using the learned radio parameter; and

obtaining a degree of reliance of the first position information on the basis of the captured image.

9. A terminal apparatus comprising:

an imager configured to capture an image of the terminal apparatus;

receiver circuitry configured to receive a radio wave from a communicator, the radio wave including radio information available for estimating a position of oneself; and

controller circuitry configured to:

estimate first position information of oneself using information of the captured image;

learn, based on the radio wave, a radio parameter related to the radio information, the radio parameter available for estimating the position of oneself;

estimate second position information of oneself using the learned radio parameter and the first position information; and

obtaining a degree of reliance of the first position information on the basis of the captured image.