| 摘要 |
Provided is a local location computation device, comprising: a light projector (11) which projects a light pattern upon a road surface in the vicinity of a vehicle; an image capture unit (12) which is mounted upon the vehicle, and which captures an image of the road surface in the vicinity of the vehicle including a region whereupon the light pattern is projected, acquiring an image; an attitude angle computation unit (22) which computes an attitude angle of the vehicle with respect to the road surface from a location of the light pattern in the image which is acquired with the image capture unit (12); a feature point detection unit (23) which sets, from the image which is acquired with the image capture unit (12), a feature point detection region in the vicinity of the region whereupon the light pattern is projected, and detects a plurality of feature points upon the road surface in the said feature point detection region; an attitude change degree computation unit (24) which computes an attitude change degree of the vehicle on the basis of a change over time of the plurality of feature points upon the road surface; and a local location computation unit (25) which computes a present location and attitude angle of the vehicle by adding the attitude change degree to an initial location and attitude angle of the vehicle with respect to the road surface. |
