Moving body guidance apparatus, moving body guidance method, and computer-readable recording medium

A moving body guidance method comprising:

• detecting, from an image captured by an image capturing apparatus mounted on a moving body, a target member image captured of an entirety of a target member or a feature member image captured of an entirety or a portion of a feature member forming the target member;
• and
• performing guidance control for moving a set position set with respect to the image and indicating a position of the moving body closer to the target member image or closer to a designated region set based on the feature member image,
• based on determining the designated region is not in the image,
• designating a first feature member image captured in the image,
• obtaining a position of the first feature member image with respect to a second feature member image in which the designated region is set, by referring to arrangement information stored in a storage unit in advance,
• estimating a position of a second feature member using ratios of dimensions of parts respectively forming the target member and a first feature member and the second feature member stored in advance in the storage unit, based on a size of the first feature member image, and calculating a movement direction for moving the set position closer to the designated region.

A non-transitory computer-readable recording medium that includes a moving body guidance program recorded thereon, the program including instructions that cause a computer to carry out:

• detecting from an image captured by an image capturing apparatus mounted on a moving body, a target member image captured of an entirety of a target member or a feature member image captured of an entirety or a portion of a feature member forming the target member;
• and
• performing guidance control for moving a set position set with respect to the image and indicating a position of the moving body closer to the target member image or closer to a designated region set based on the feature member image;
• and
• in a case where the designated region is not in the image,
• designating a first feature member image captured in the image,
• obtaining a position of the first feature member image with respect to a second feature member image in which the designated region is set, by referring to arrangement information stored in a storage unit in advance,
• estimating a position of a second feature member using ratios of dimensions of parts respectively forming the target member and a first feature member and the second feature member stored in advance in the storage unit, based on a size of the first feature member image, and
• calculating a movement direction for moving the set position closer to the designated region.