| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a road elevation estimating apparatus which can obtain the data on the road elevation without occupying the road, and without labors in a short time by automatically estimating the road elevation by using a sensor for monitoring the road and a traveling vehicle, and a method therefor. SOLUTION: This road elevation estimating apparatus which estimates the difference in elevation from the reference plane comprises an image observing means 1 which observes the image of a moving body, a coordinate converting means 2 which converts the objective position in the image of the moving body observed by the image observing means into the two-dimensional rectangular coordinates based on a plurality of assumed candidates of the road difference in elevation, a predicting means 3 which calculates the position of prediction of the moving body based on the position on the two-dimensional rectangular coordinates of the moving body observed in the previous sampling, and a road level calculating means 4 which calculates the level difference of the rod from the predicted position calculated by the predicting means and the position of observation of the moving body on the two-dimensional rectangular coordinates based on the plurality of candidates for the road difference in elevation converted by the coordinate converting means.</p> |
