| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that processing efficiency is poor in calculating each of distances from a plurality of adjacent points up to the most nearby feature point on a feature point map. SOLUTION: A distance map, by which distances in the lateral direction from feature points are previously given to each point composing a two-dimensional arrangement, is generated (S30). In calculation stages, points forming one line and being positioned above and below points to be calculated are set as retrieval destinations, and distances to an obstacle is calculated by distances in the longitudinal direction from the points to be calculated up to the points of the retrieval destinations and values of the points of the retrieval destinations on the distance map (S34, S36). If the calculated values are smaller than the values at the previous retrieval destinations, the values are stored in a register (S38, S40). These procedures are repeated for all the retrieval destinations (S42). COPYRIGHT: (C)2008,JPO&INPIT
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