| 摘要 |
PROBLEM TO BE SOLVED: To achieve highly accurate navigation in routes of difficult GPS positioning when a noncontact inertial navigation device is used. SOLUTION: A three-dimensional coordinate DB 22 for storing optical flow information of previously photographed visual scenes correspondingly to three-dimensional coordinate data in an XYZ coordinate system corresponding to a road network and a map, speech, and OF information DB 23 are used. In the processing of computing information on a current position; a distance traveled; and a traveling direction through the use of a navigation sensor 6 having a noncontact inertial navigation device, optical flow information of images acquired by a camera 7 is matched with optical flow information of the map, speech, and OF information DB 23. In the case that they do not match, three-dimensional position information is corrected. COPYRIGHT: (C)2008,JPO&INPIT |
