| 摘要 |
The present invention addresses the problem of providing, in a moving body having no wheels or a moving body having wheels that slip, an optical velocity measurement device, and the like, capable of accurately estimating the device velocity while suppressing the effect of the rotational motion of the moving body. An optical velocity measurement device for addressing this problem is characterized by having a photography means that is provided on a moving body and is for photographing a travel surface such that the amount of movement of each pixel when a photographed flat surface moves varies depending on the position of the pixel within an image, and in that the change in the amount of movement of each pixel along a prescribed axis is determined as a pixel movement amount slope on the basis of a plurality of images sequentially photographed by the photography unit, and the speed of the moving body is determined on the basis of the pixel movement amount slope. |
