US 12,125,288 B2
Position measuring method, driving control method, driving control system, and marker
Shingo Tsukada, Musashino (JP); Hiroshi Nakashima, Musashino (JP); and Toichiro Goto, Musashino (JP)
Assigned to NIPPON TELEGRAPH AND TELEPHONE CORPORATION, Tokyo (JP)
Appl. No. 17/595,102
Filed by NIPPON TELEGRAPH AND TELEPHONE CORPORATION, Tokyo (JP)
PCT Filed May 21, 2019, PCT No. PCT/JP2019/020128
§ 371(c)(1), (2) Date Nov. 9, 2021,
PCT Pub. No. WO2020/235004, PCT Pub. Date Nov. 26, 2020.
Prior Publication US 2022/0215669 A1, Jul. 7, 2022
Int. Cl. G06V 20/56 (2022.01); B60W 60/00 (2020.01)
CPC G06V 20/56 (2022.01) [B60W 60/001 (2020.02); B60W 2420/403 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02)] 14 Claims
OG exemplary drawing
 
1. A position measurement method comprising:
an image acquiring step of acquiring an image of surroundings at a self-position;
an image analyzing step of detecting an area in which a circular shape appears in the image; and
a self-position measuring step of measuring the self-position based on a feature amount including an aspect ratio of the area, wherein
in the self-position measuring step, a relative angle between a direction of the circular shape and a traveling direction is calculated based on the aspect ratio.