| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and a device of detecting the head position of a traveling body, wherein incorrect detection due to the change of background or disturbance, such as, light emitted from the traveling body is reduced to the utmost. SOLUTION: The method of detecting the head position of the traveling body 3 includes continuously imaging the head part of the traveling body 3 and the background by an image sensor 5; calculating a difference image between continuous two images, on the basis of the imaged images; calculating a difference projection luminance distribution by performing luminance integration along a direction perpendicular to the traveling direction of the traveling body 3 about the calculated difference image; detecting the position where a prescribed luminance threshold is exceeded with respect to the calculated difference projection luminance distribution, and recognizing the detected position as the position of the head part of the traveling body 3. COPYRIGHT: (C)2011,JPO&INPIT |
