| 摘要 |
<P>PROBLEM TO BE SOLVED: To capture an image appropriate for estimating a current position. Ž<P>SOLUTION: Just before an image for estimating a current position is captured with an image capturing apparatus, an inter-grid distance from a target on a grid map representing a movement range of a moving robot is calculated for each of directions the moving robot can capture. Then, a relationship between a pickup distance held in advance and a range precision is used to calculate a value of estimation precision for each of pickup directions of the image capturing apparatus on assumption that an image picked up from the inter-grid distance is used to estimate a current position. The pickup direction for capturing the target actually is determined to be the one whose estimation precision value is maximum. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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