| 摘要 |
PURPOSE:To surely recognize an intersecting point by detecting a proposed intersecting part on a passage by a density dispersion value in a crossing direction of a white line, computing the probability of the upper and lower end similarities of the crossing point and determining the upper and lower end of the intersecting point based on the probability distribution. CONSTITUTION:A white line is detected from a two-dimensional observation image obtained by photographing an external environment including the white line drawn on a passage by a white line detecting means 100, a proposed intersecting point part is detected from points on the detected white line by a proposed intersecting point part detecting means 200, probability indicating the upper end similarity of the intersecting point on the passage and the probability indicating the lower end similarity of the intersecting point are calculated by an intersecting point probability calculating means 300, and the upper and lower ends of the intersecting point are determined from the calculated probability distribution by an intersecting point end determining means 400 to detect the intersecting point on the passage. Consequently, the intersecting point can be surely recognized without using markers or the like formed on the load or wall surface.
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