| 摘要 |
<p>PURPOSE:To prevent the deterioration of the detecting accuracy of a position and a bearing by correcting the detected values of the position and the bearing so as to minimize the errors between the detected values of the position and the bearing based on the aberration of a lens and the error of the setting position of a mark and the expected values. CONSTITUTION:A TV camera 10 photographs images in all directions around a carrier vehicle 1. The image data as the result of the photographing are imparted into a position/bearing detecting part 11. In the detecting part 11, the present position and bearing of the carrier vehicle 1 are detected based on the position data of marks 2 and 2 on the image by using a specified geometrical method based on the given image data. The data of the position/bearing detected with the detecting part 11 are imparted into a position/bearing correcting part 12. The correcting part 12 corrects the position/bearing data of the carrier vehicle 1 detected with the detecting part 11 by using a back propagation rule. The corrected result is imparted into a running control system 13 for controlling the running such as the steering of the carrier vehicle 1 based on the position/bearing data.</p> |
