PURPOSE: To precisely detect the border between a work place and a nonwork place while preventing the influence of disturbance by extracting representative points by an arithmetic means and finding the border segment between the work place and nonwork plate nearby a ridge according to the representative points.
CONSTITUTION: An image pickup means S1 picks up images of the work place before the machine body in its traveling direction and an image of the nonwork place adjoining to the work place in a direction crossing the traveling direction of the machine body. An area extracting means 100 extracts an area corresponding to the nonwork place according to the picked-up image information. In this area, a selecting means 101 selects only arrays of more than a specific number of successive pixels on the most work place side on respective scanning lines of the screen coordinate axis of the image pickup means S1 along the direction crossing the machine body traveling direction. A representative point extracting means 103 extracts the pixels on the most work place side in the respective selected pixel arrays as the representative points. The arithmetic means 102 finds the segment corresponding to the border between the work place and nonwork place according to the representative points. Consequently, the influence of disturbance of a floating weed nearby the ridge, etc., can be prevented.
| JP3315175 | APPARATUS FOR THREE-DIMENSIONAL MEASUREMENT |
| JP6705301 | Measuring device |
HAYASHI MASAHIKO
FUJII YASUO
