| 摘要 |
PROBLEM TO BE SOLVED: To accurately measure the self-location of a mobile body without using an optical wave surveying instrument or a reflecting prism. SOLUTION: A plurality of known points A<SB>n</SB>and B<SB>n</SB>arranged in a route of movement of the mobile body are photographed by an imaging means mounted to the mobile body. The inclinationαof a screen coordinate system by an imaging means to an absolute coordinate system is determined on the basis of the difference between the absolute coordinate inclinationγof line segments A<SB>n</SB>and B<SB>n</SB>in the absolute coordinate system and the local coordinate inclinationβof the line segments A<SB>n</SB>and B<SB>n</SB>in the screen coordinate system. On the basis of the inclinationαand absolute coordinate values of the known points A<SB>n</SB>and B<SB>n</SB>, the coordinates O of the center of a screen in the absolute coordinate system is determined. On the basis of the coordinates O of the center, it is possible to highly accurately measure the self-location P of a specific part of the mobile body. COPYRIGHT: (C)2004,JPO&NCIPI
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