Measuring relative position and attitude of preceding vehicle to follwoing one using zooming camera

摘要

This paper deals with measurement method of the relative position and attitude of preceding vehicle to follwing one for automatic follw-up system. A known figure fitted to the rear of the preceding vehicle is observed and its image is processed by the camera and computer mounted on the following vehicle. A square is used as a known figure. The pixel number of both edges of the square are used for measuring the relative values. When a part of the square is sticking out of the visual field of camers, we can obtain the relative values by geometrical calculation. Using zoom mechanism, it is possible to measure the values accurately.