| 摘要 |
PROBLEM TO BE SOLVED: To provide a position detection apparatus for easily detecting a self-position during autonomous movement by a humanoid robot that moves by the use of legs or an automobile. SOLUTION: This position detection apparatus detects the self-position of a moving object. The position detection apparatus includes an image acquiring means for acquiring an image of the forward field of view of the moving object, a distance image acquiring means that has the same field of view as the image acquiring means and acquires a distance image simultaneously to acquisition of the image by the image acquiring means, a characteristic point extracting means that extracts respective characteristic points from the acquired images, and a reference characteristic point selecting means that compares previously stored object information with the extracted characteristic point, considers a high-correlation characteristic point as an existing characteristic point, and sets it as a reference characteristic point for calculating a self-position. COPYRIGHT: (C)2011,JPO&INPIT
|
