| 摘要 |
<P>PROBLEM TO BE SOLVED: To estimate a vehicle speed and a rotation angle without requiring a vehicle speed sensor and a steering angle sensor. <P>SOLUTION: A characteristic point is extracted from camera images of a camera installed in a vehicle and by the tracing processing of the characteristic point, a movement vector of the characteristic point between the camera images which are arranged time-sequentially is derived. The movement vector is mapped on birds-eye view coordinates. On the basis of the movement vectors (351, 352) on the birds-eye view coordinates, a rotation angle (Φ) in the movement of the vehicle is estimated and a vehicle speed (in proportion to Φ and R) is estimated. Then, on the basis of the estimated rotation angle and the vehicle speed, a guideline corresponding to an expected vehicle passing area is generated and the guideline is displayed while being superimposed on a birds-eye view image. <P>COPYRIGHT: (C)2009,JPO&INPIT |
