METHOD FOR DETECTING CURRENT POSITION OF MOBILE

摘要

PROBLEM TO BE SOLVED: To reduce capacity of an information storage memory and to eliminate need for installation of a marker on a travel region surface with stable matching by comparing an optical flow detected and stored in advance of an image of a scene of the travel region surface and its vicinity with an optical flow which is currently detected. SOLUTION: A self-traveling vehicle is traveled along a travel region 1, an image of the travel region 1 is picked up every predetermined distance interval Lc of approximately several meters which has been specified in advance to obtain an optical flow, and preparation for storing it is performed. Then, optical flows obtained for each of predetermined distance intervals Lc and positions corresponding thereto on the travel region 1 are stored. A current position of the traveling vehicle in the travel region is recognized by matching a detected optical flow during travel with all of the stored optical flows. Thus a position corresponding to the optical flow which shows the maximum matching result is recognized as the current position of the vehicle during travel.