| 摘要 |
PROBLEM TO BE SOLVED: To measure a position of a self vehicle without using a GPS positioning signal.SOLUTION: A self vehicle position measuring system, which is arranged on a surface of a structure, comprises: a two-dimensional code, and obtained by encoding absolute position information including a latitude and a longitude of an arrangement point in a readable manner; and a controller 10. The controller 10 acquires a picked-up image of surroundings of a vehicle, converts the picked-up image to an image from a predetermined viewpoint opposed to the picked-up image, extracts an image of the two-dimensional code, calculates a position and a gradient of the two-dimensional code in an imaging coordinate system of a camera, acquires the absolute position information from the two-dimensional code, calculates an attitude of the vehicle on the basis of the position and the gradient of the two-dimensional code and readable imaging parameters of the camera, calculates an absolute position of the vehicle on the basis of the calculated attitude of the vehicle and the acquired position information, and outputs the calculated absolute position of the vehicle. |
