Patent ID: 11874398
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 6:
7. A method for detecting a movement amount comprising:
a first step of acquiring, by using image data of a floor surface acquired by a plurality of optical sensors disposed in a moving body, a movement amount of the moving body at each of a plurality of places where a respective one of the plurality of optical sensors is disposed, each of the plurality of optical sensors being configured to acquire the image data of the floor surface, the number of the plurality of optical sensors being at least three; and
a second step of calculating the movement amount of the moving body at a reference point located thereon by using the movement amount of the moving body at each of the plurality of places where a respective one of the plurality of optical sensors is disposed, acquired in the first step, wherein
in the first step, a second movement amount at the reference point is calculated by using first movement amounts, each of which is detected based on image data acquired by a respective one of the plurality of optical sensors, and a third movement amount is inversely calculated at each of the plurality of places where a respective one of the plurality of optical sensors is disposed from the second movement amount, and
among the plurality of optical sensors, an optical sensor that should be excluded in the calculation of the movement amount at the reference point of the moving body is determined based on a difference between the first movement amounts and the third movement amount at each of the plurality of optical sensors.