Title:
平面検出装置、平面検出方法、及び平面検出装置を搭載したロボット装置
Document Type and Number:
Japanese Patent JP4636016
Kind Code:
B2
Abstract:
In a plane detection apparatus, a plane detection unit (3) includes a line fitting block (4) to select a group of distance data points being in one plane from distance data forming an image and extract lines from the distance data point group, and a region growing block (5) to detect one or more planar regions existing in the image from a group of all lines included in the image and extracted by the line fitting block (4). The line fitting block (4) first draws a line D1 connecting end points of the distance data point group, searches a point of interest brk whose distance to the line L1 is largest, segments the data point group by the point of interest brk when the distance is larger than a predetermined threshold, and determines a line L2 by the least-squares method when the distance is smaller than the predetermined threshold. In case there exists a larger number of data points than a predetermine number on one side of the line L2, the data point group is determined to be in a zig-zag shape, the data point group is segmented by the point of interest brk. These operations are done repeatedly. Thus, a plurality of planes robust against noises is detected simultaneously and accurately from distance data including measurement noises.
Inventors:
Goodman Stephen
Masaki Fukuchi
Kotaro Sabe
Senta Kawamoto
Masaki Fukuchi
Kotaro Sabe
Senta Kawamoto
Application Number:
JP2006511066A
Publication Date:
February 23, 2011
Filing Date:
March 17, 2005
Export Citation:
Assignee:
ソニー株式会社
International Classes:
G01B11/245; B62D57/024; G01B11/24; G06K9/00; G06T1/00; G06T7/00
Domestic Patent References:
| JP2001062566A | 2001-03-13 | |||
| JPH0793541A | 1995-04-07 | |||
| JP2005182826A | 2005-07-07 | |||
| JPH08161493A | 1996-06-21 |
Attorney, Agent or Firm:
Akira Koike
Eiichi Tamura
Seiji Iga
Eiichi Tamura
Seiji Iga