US Patent 11170229 Attitude estimation device

An attitude estimation device acquires a plurality of images captured by a plurality of cameras mounted to a vehicle so as to form a plurality of overlap areas in each of which imaging areas partly overlap with each other. The attitude estimation device detects feature portions contained in regions on images respectively including appearances of the overlap areas. Then, the attitude estimation device calculates, for each of the overlap areas, an amount of positional offset between the feature portions detected from the plurality of images respectively including appearances of the overlap areas, and estimates an attitude of the vehicle, based on a difference in the amount of offset calculated for each of the plurality of overlap areas.