| 摘要 |
PURPOSE:To correctly measure a vehicle position without using complex equipment outside the vehicle with respect to a vehicle position measuring apparatus and a driver supporting apparatus. CONSTITUTION:The apparatus comprises a camera 1 which is mounted on a vehicle for picking up images of scenes in the vicinity of the vehicle including a pavement, a bird's-eye image creating part 2 for creating a bird's-eye image O regarding the pavement from an output image of the camera 1, and a compass 3 for measuring an azimuth of the vehicle running direction. Further the apparatus comprises an affine transforming part 4 which affine-transforms the bird's eye image O based on output information of the compass 3 to have it converted into a bird's-eye image T with north placed above a vertical axis, a map database 5, and a position measuring part 6 which compares the bird's eye image T with information in the map database 5 to measure a vehicle position on the map. |
