METHOD OF REGISTERING LANDMARK POSITION FOR SELF-POSITION ORIENTATION

摘要

PROBLEM TO BE SOLVED: To provide a method of registering a landmark position for self-position orientation capable of dispensing with manual measurement of the landmark position, capable of measuring easily a three-dimensional position of a landmark in a short time to be registered, and capable of setting the landmark optionally. SOLUTION: In this method of registering the landmark position for the self-position orientation for registering automatically the three-dimensional position of the plurality of landmarks arranged within a traveling environment of a moving body, the moving body is moved from an original point in a reference coordinate system to an initial position P0capable of recognizing the plurality of landmarks, so as to acquire a moving state quantity when moved by an optional distance from the initial position and a shift amount of a landmark image photographed from the moving body, a relative three-dimensional position of the each landmark is calculated thereafter based on the moving state quantity and the shift amount of the landmark image, using the initial position as a reference, and the relative three-dimensional position is coordinate-transformed into the three-dimensional position using the reference coordinate system as a reference to calculate three-dimensional position coordinates in the reference coordinate system. COPYRIGHT: (C)2006,JPO&NCIPI