To provide an object recognition apparatus which is suitable for controlling the attitude of a legged robot or a leg-wheeled robot and suitable for improving recognition accuracy, when recognizing an object by a two-dimensional distance measuring device using a distance-measuring sensor.
The leg-wheeled robot 100 is provided with a substrate 10; leg parts 12 connected to the substrate 10 with degrees of freedom; driving wheels 20 rotatably provided for the leg parts 12; and the distance-measuring sensor 212a for measuring the distances to points of measurement on an object. The distance-measuring sensor 212a is made to perform scanning, to acquire measurement results of the distance-measuring sensor 212a on points of measurement measurable within its scanning range. Acquired measurement results are converted into coordinates in an orthogonal coordinate system. On the basis of coordinates of at least two converted points of measurement, line segments in the rectangular coordinate system are detected by Hough transformation, and on the basis of detected line segments, continuous surfaces or the boundaries of the continuous surfaces on the object are recognized.
Yoshiaki Naito
Cui Shu Tetsu
Next Patent: APPARATUS AND METHOD FOR RECOGNIZING OBJECT