To provide a method and system for accurately detecting a self position of an own vehicle during traveling regardless of a travel environment condition.SOLUTION: A mobile body position detection method is performed by communication between mobile body side controllers to which each one of on-vehicle cameras is connected and fixed-point camera side controllers to which each one of fixed-point cameras arranged along a track is connected. The method includes steps of: acquiring fixed-point camera videos from the fixed-point cameras; separating mobile bodies from backgrounds and stationary objects based on background differences in fixed-point camera videos; acquiring on-vehicle camera videos from the on-vehicle cameras; acquiring a 3D image map including on-vehicle camera videos as image data; identifying a mobile body that has acquired on-vehicle camera videos as an own vehicle among the mobile bodies separated based on background differences by collation between on-vehicle camera videos and a 3D image map; and calculating a self position of an own vehicle based on the fixed-point camera videos.SELECTED DRAWING: Figure 4

    【課題】走行中、走行環境条件にかかわらず自車両の自己位置を精度良く検出する方法及びシステムを提供する。【解決手段】車載カメラが接続される移動体側コントローラと、走行路に沿って設置される定点カメラが接続される定点カメラ側コントローラとの通信による移動体位置検出方法であって、以下の手順とする。定点カメラから定点カメラ映像を取得する。定点カメラ映像の背景差分によって背景及び固定物から移動体を分離する。車載カメラから車載カメラ映像を取得する。車載カメラ映像を画像データに含む3D画像マップを取得する。車載カメラ映像と3D画像マップとの照合により、背景差分により分離した移動体の中から車載カメラ映像を取得している移動体を自車両として特定する。自車両の自己位置を、定点カメラ映像に基づいて算出する。【選択図】図4


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    Title :

    MOBILE BODY POSITION DETECTION METHOD AND MOBILE BODY POSITION DETECTION SYSTEM


    Additional title:

    移動体位置検出方法及び移動体位置検出システム


    Contributors:

    Publication date :

    2020-10-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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