Title:
RECOGNITION PROCESSOR FOR PRESENT POSITION OF MOBILE OBJECT
Document Type and Number:
Japanese Patent JP3176701
Kind Code:
B2
Abstract:
PURPOSE: To quickly and accurately recognize the present position of a mobile object by selecting a prescribed feature point based on a prepared evaluating function and recognizing the present position of its own based on the image information on the selected feature point to properly set the evaluating function.
CONSTITUTION: When a shape feature point is decided, the shape feature point described in the environmental information is evaluated by a 1st evaluating function. Then, a list of the feature point candidates is produced in the order of evaluating results. In a step S104, a shape feature point is selected out of the node data on the subject described in the environmental information and a fact is checked whether the selected feature point is kept in the viewfield of a camera or not. Then, the distance is calculated between a robot and the shape feature point. In a step S107, the present position of the subject is recognized through the measurement of the selected feature point. Then, a walking program processing step S108 is carried out. Thus, the present position of the subject can be recognized at a high speed and with high accuracy with the evaluating function set properly.
Inventors:
Yuji Haikawa
Application Number:
JP12143192A
Publication Date:
June 18, 2001
Filing Date:
April 15, 1992
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J19/04; B62D57/032; G01B11/00; B25J5/00; G05D1/02; G05D3/12; G06T1/00; (IPC1-7): B25J5/00; B25J19/04; G01B11/00
Domestic Patent References:
| JP6344103A | ||||
| JP1311207A | ||||
| JP60217413A |
Attorney, Agent or Firm:
Yutaka Yoshida (1 person outside)