Title:
３次元環境復元装置、３次元環境復元方法、及びロボット
Document Type and Number:
Japanese Patent JP5766936
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To efficiently allow map update processing even under dynamic environment.SOLUTION: A three-dimensional environment restoration device 10 includes: an environment recognition sensor 5 which measures environment in three dimensions; a three-dimensional point group generation processing part 11 which generates a three-dimensional point group showing the three-dimensional shape of an observation object from measured measurement data; a time division multistage map generation/accumulation processing part 12 which generates a multistage map in time division by using generated three-dimensional point group data by using a three-dimensional environment map in which the three-dimensional environment is sectioned into grid areas, and a rectangular parallelepiped is arranged in a grid area in which the observation object exists as a multistage map, and accumulates the generated multistage map in storage means for specified time; and an entire multistage map generation processing part 13 which generates the entire multistage map on which new environment information is reflected by synthesizing the accumulated multistage map for the specified time with the newly generated multistage map.
Inventors:
Kimitoshi Yamazaki
Masayuki Inaba
Ken Mori
Masayuki Inaba
Ken Mori
Application Number:
JP2010252487A
Publication Date:
August 19, 2015
Filing Date:
November 11, 2010
Export Citation:
Assignee:
National University Corporation Tokyo University
TOYOTA JIDOSHA KABUSHIKI KAISHA
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
G01B11/24; G06T1/00
Domestic Patent References:
| JP2010210577A | ||||
| JP8029125A | ||||
| JP8043029A | ||||
| JP2010085131A | ||||
| JP62239285A | ||||
| JP2002140723A | ||||
| JP2010210576A |
Foreign References:
| WO2008126392A1 | ||||
| WO2004003850A1 |
Other References:
YAMAZAKI, K. et.al.,Cuboid-based Workspace Mapping and Plane Detection using Time-series Range Data,Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics,IEEE,2011年12月11日,pp. 583-589,ISBN:978-1-4577-2136-6 DOI:10.1109/ROBIO.2011.6181349
山崎 公俊(外3名),生活支援ロボットの作業空間把握のための時系列距離データに適したマップ表現と平面検出,日本ロボット学会誌,日本,日本ロボット学会,2012年,Vol. 30 (2012) No. 4,pp. 109-118,DOI:10.7210/jrsj.30.443
山崎 公俊(外3名),生活支援ロボットの作業空間把握のための時系列距離データに適したマップ表現と平面検出,日本ロボット学会誌,日本,日本ロボット学会,2012年,Vol. 30 (2012) No. 4,pp. 109-118,DOI:10.7210/jrsj.30.443
Attorney, Agent or Firm:
Ken Ieiri