| 摘要 |
PROBLEM TO BE SOLVED: To recognize a self-position by detecting, at high speed, an optical flow real time from an imaged picture with a small device which can be mounted on a mobile body. SOLUTION: A distance image is generated at a stereo-process part 30 of a hardware circuit for a picture imaged with a camera assembly 10, and then from the distance image, a histogram for evaluating a No.1 block which can be used for an optical flow is generated. Then, at an optical flow process part 60 of a hardware circuit, a city block distance is calculated to fast explore No.2 block corresponding to the No.1 block. Then, at a navigation process part 90, a speed component of a mobile body is calculated from the optical flow of a lower part image, the speed component is subtracted by a rotational speed component calculated from the optical flow of the lower part image to obtain net translational speed component, and the net translational speed component is accumulated to calculate a navigation locus. |
