| 摘要 |
PROBLEM TO BE SOLVED: To enable, even in an environment susceptible to the influence of illuminating conditions, colors to be distinguished from one another further accurately.SOLUTION: An autonomous traveling apparatus is equipped with a memory unit, a self-position estimating unit, a traveling mechanism and a travel control unit. The memory unit stores positional information on a prescribed target. The self-position estimating unit comprises: an image pickup unit that picks up images around the autonomous traveling apparatus; color samples; a determining unit that determines, using color information on the picked-up images of the color samples, whether or not the images around the autonomous traveling apparatus contain an image of the target; and a position estimating unit that, when the determining unit has determined that the images around the autonomous traveling apparatus contain an image of the target, estimates the position of a vehicle on the basis of the positional information on the target. |
