초록 ▼

A camera assembly 10 images a distant landscape and a downward landscape every a predetermined period of time. A position recognizing unit 30 of a moving object (autonomous running vehicle) detects the movement of the moving object on the basis of the movement between the imaged pictures of the dist

A camera assembly 10 images a distant landscape and a downward landscape every a predetermined period of time. A position recognizing unit 30 of a moving object (autonomous running vehicle) detects the movement of the moving object on the basis of the movement between the imaged pictures of the distant and downward landscapes, which are imaged at different imaging times. That is, the movements of the distant-view and down-view images are converted to the moving amounts in the actual space on the basis of the distance images thereof, respectively, and the component of rotational speed based on the movement of the distant-view image is removed from the component of velocity based on the movement of the down-view image to derive a pure component of translation speed. Then, the pure component of translation speed is converted to a component of translation viewed from the ranging starting point to be accumulated to derive a navigation locus in a three-dimensional space to recognize the moving-object's own position. Thus, it is possible to analyze the surrounding environment in a three-dimensional space to cause the analyzed surrounding environment to be reflected on a navigation information, so that it is possible to obtain a precise and minute navigation information.

대표청구항 ▼

[ What is claimed is:] [1.] A position recognizing system of an autonomous running vehicle, comprising:imaging means for imaging a distant landscape and a downward landscape every a predetermined period of time by an imaging system mounted on said autonomous running vehicle;first capturing means for

[ What is claimed is:] [1.] A position recognizing system of an autonomous running vehicle, comprising:imaging means for imaging a distant landscape and a downward landscape every a predetermined period of time by an imaging system mounted on said autonomous running vehicle;first capturing means for extracting a plurality of characteristic pattern regions serving as first blocks from a first frame of an imaged picture of each of said distant landscape and said downward landscape;second capturing means for searching a second frame of an imaged picture of each of said distant landscape and said downward landscape for regions serving as second blocks having a same pattern as that of said first blocks, said second frame being imaged at the next timing to said first frame;rotational processing means for deriving a component of rotational speed of said autonomous running vehicle between said first and second frames on the basis of a movement of said imaged picture of said distant landscape from said first blocks to said second blocks and on the basis of an elapsed time between said first and second frames;translation processing means for deriving a component of velocity of said autonomous running vehicle between said first and second frames on the basis of a movement of said imaged picture of said downward landscape from said first blocks to said second blocks and on the basis of an elapsed time between said first and second frames and for removing said component of rotational speed from said component of velocity to derive a component of translation speed of said autonomous running vehicle between said first and second frames; andnavigation processing means for converting said component of translation speed between said first and second frames to a component of translation speed viewed from a ranging starting point and for accumulating the converted component of translation speed to derive a navigation locus in a three-dimensional space so as to accurately perform an autonomous navigation by processing a huge amount of image data at a fast speed without drifting.