| 摘要 |
PROBLEM TO BE SOLVED: To provide a position detector, in which a position can be detected accurately by performing correction for removing the effect of pitching of a vehicle, based on an image obtained through an image pickup device. SOLUTION: From the images of an object obtained by means of cameras 1R, 1L, time series positional data Q(j) of the object is calculated (S41) in a camera coordinate system, having the optical axis of the camera as a reference. Based on the time series positional data Q(j), a line for approximating the locus of relative movement of the object is calculated (S43), and then a pitch angle θP of the optical axis of the camera is calculated, based on the approximate line (S44). Positional data in the actual spatial coordinate system is calculated (S45), by correcting the positional data of the object in the camera coordinate system, depending on the pitch angle θP. |
