| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve the problem that a technique in a prior art calculates slope and distance from the relative positional relationship between a camera and a plane to which light is emitted, thereby a change in the absolute position of the plane and camera makes it impossible to calculate the absolute slope of the plane. Ž<P>SOLUTION: The self-position recognition method for a mobile apparatus recognizes a recognition mark provided on a ceiling of an area in which a mobile apparatus moves by an image taken by a camera and recognizes the position of the mobile apparatus within the area. The mobile apparatus recognizes the shape and position of a pattern passed through a refractive plate having a vertical plane in the gravitational direction and projected onto the ceiling by an image taken by a camera and determines the slope angle of the mobile apparatus with respect to the gravitational direction, thereby performing accurate relative positional recognition for the mobile apparatus and the mark. A self-position recognized mobile apparatus is also provided. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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