MAP GENERATION DEVICE, MAP GENERATION METHOD, METHOD FOR MOVING MOBILE BODY, AND ROBOT DEVICE

In order to construct a map in a crowded environment where many people are present, provided are: a continuous image obtaining unit (11) for obtaining continuous images taken continuously while a robot moves

a local feature amount extractor (12) for extracting local feature amounts in feature points from the continuous images

a feature amount matching unit (13) for finding matches among continuous input images for the local feature amounts extracted by the local feature amount extractor (12)

an invariant feature amount calculator (14) for determining, as invariant feature amounts, the average of the local feature amounts found by the matching among a predetermined number of continuous images by the feature amount matching unit (13)

a distance information obtaining unit (15) for calculating distance information corresponding to each of the invariant feature amounts on the basis of the position of the robot at each point in time when the continuous images were obtained

and a map generator (16) for generating a local metrical map as a hybrid map having the invariant feature amounts and the distance information.