| 摘要 |
PURPOSE:To realize the inducing of a mobile conductor in complicated environment at a high speed by extracting an observed picture of a TV camera into plural characteristic patterns at the same time at a picture processor and using the pattern recognized best among them as the guiding index. CONSTITUTION:A mobile body position detecting means 3 detects the position in a path of a mobile body 1 based on the information from a gyro scope 1B and a detector 1C. A characteristic estimation pattern under the environment estimated based on the position from the means 3 is stored in a storage means 4. A picture processing means 5 processes the observed picture of a camer into plural characteristic patterns at the same time and extracts the characteristic pattern effective to the collation. A collation means 6 checks the coincidence between the characteristic pattern from the means 5 with the forecast characteristic pattern from the means 4. A visual control means 7 controls the direction of the camera 2 through the result of comparison of the means 6 and extracts the real picture by a storage means 9. An guidance control means 8 compares the setting value of the camera 2 and the control value, outputs an inducing signal to the mobile body 1 so as to guide the mobile body 1. |
