| 摘要 |
PROBLEM TO BE SOLVED: To accurately measure motion of a movable body with robustness secured, in a simple constitution. SOLUTION: Motion estimation is carried out based on a recorded image, and evaluation values of three-axis angular speed and a component indicating a translation direction of motion of own vehicle are calculated (160). The three-axis angular speed detected by a gyro sensor is acquired (162). A correction amountΔR calculated, based on a difference between an average value of the three-axis angular speed calculated, based on a plurality of images recorded by imaging the exterior of own vehicle and the average value of the three-axis angular speed detected by the gyro sensor is acquired (164). The acquired correction amountΔR is subtracted from angular speed R<SB>jyro</SB>and a corrected angular speed R'<SB>jyro</SB>is calculated for each of the acquired three-axis angular speeds (166), and the corrected three-axis angular speed and the component indicating the obtained translation direction are output as the estimated values of the motion of own vehicle (168). COPYRIGHT: (C)2009,JPO&INPIT
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