Title:
地図生成装置、地図生成方法およびプログラム
Document Type and Number:
Japanese Patent JP6557973
Kind Code:
B2
Abstract:
A map creation apparatus includes an image receiver configured to receive images in time series while moving; a first calculator configured to extract an image area indicating an object from the images and calculate a coordinate of the object in a world coordinate system; a second calculator configured to track the object in the extracted image area with the images and calculate an optical flow of the object; an eliminator configured to calculate a difference in coordinate between vanishing points generated by the movement of the image receiver and the object based on the optical flow, and eliminate the image area of the object from the images when determining the object as a moving object based on the calculated difference; and a storage controller configured to store map information including the coordinate of the object, not eliminated by the moving object eliminator, in the world coordinate system.
Inventors:
Ken Aoki
Sadasue Tamon
Yasuhiro Kajiwara
High Kazuhiro Sawa
Kazushi Matsushita
Yasuko Hashimoto
Shirataka Yasuko
Sadasue Tamon
Yasuhiro Kajiwara
High Kazuhiro Sawa
Kazushi Matsushita
Yasuko Hashimoto
Shirataka Yasuko
Application Number:
JP2015001708A
Publication Date:
August 14, 2019
Filing Date:
January 07, 2015
Export Citation:
Assignee:
株式会社リコー
International Classes:
G06T7/246; G01B11/00; G06T11/60
Domestic Patent References:
| JP2010277262A | ||||
| JP2014203429A | ||||
| JP2009271513A |
Other References:
光本尚訓,外1名,オプティカルフローを用いた単眼移動カメラからの移動物体検出手法の基礎検討,映像情報メディア学会技術報告 Vol.31 No.39,日本,社団法人映像情報メディア学会,2007年 8月28日,第31巻,第39号,pp.5-8
Attorney, Agent or Firm:
Hiroaki Sakai