Self-position recognition system and self-position recognition method using a three-dimensional model

摘要

PROBLEM TO BE SOLVED: To provide a self-position recognition method and system which are easily applied even when layout in a moving space changes, have low installation costs and quickly and accurately recognize a self-position.;SOLUTION: The self-position recognition system includes: a means 21 for generating a three-dimensional model in the moving space; a means 10 for acquiring a camera image from the position and direction of a moving object at a predetermined time; a means 17 for calculating a target position and direction on a target track at the predetermined time; a means 15 for forming model images of a plurality of positions and directions within a predetermined range of the target position and direction from the three-dimensional model; a means 16 for calculating matching degree of color information between the plurality of model images and the camera image; and a means 18 for recognizing the position and direction of the moving object based on each matching degree.;COPYRIGHT: (C)2010,JPO&INPIT