Title:
PLANE DETECTION DEVICE, AUTONOMOUS LOCOMOTION DEVICE PROVIDED WITH PLANE DETECTION DEVICE, METHOD FOR DETECTING ROAD LEVEL DIFFERENCE, DEVICE FOR DETECTING ROAD LEVEL DIFFERENCE, AND VEHICLE PROVIDED WITH DEVICE FOR DETECTING ROAD LEVEL DIFFERENCE
Document Type and Number:
WIPO Patent Application WO/2014/064990
Kind Code:
A1
Abstract:
A cleaning robot (1) according to an embodiment of the present invention comprises a distance image sensor (20) and a plane detection device (60). The plane detection device (60) comprises: a three-dimensional coordinate computation unit (31) that converts a distance image into three-dimensional coordinate data; a projected image creation unit (32) that creates an image in which the three-dimensional coordinate data is projected onto a plane; a straight line detection unit (33) that detects straight lines from the projected image; and a plane detection unit (34) that detects planes on the three-dimensional coordinate data from the straight lines.
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Inventors:
HANAOKA TOHRU
MATSUO TOSHIHISA
MATSUO KOHHEI
OKADA KAZUHISA
MATSUO TOSHIHISA
MATSUO KOHHEI
OKADA KAZUHISA
Application Number:
PCT/JP2013/071855
Publication Date:
May 01, 2014
Filing Date:
August 13, 2013
Export Citation:
Assignee:
SHARP KK (JP)
International Classes:
G06T7/60; G01B11/25; G05D1/02; G06T1/00; G08G1/00
Foreign References:
| JP2011027724A | 2011-02-10 | |||
| JP2005217883A | 2005-08-11 |
Other References:
TOM DRUMMOND ET AL.: "Real-Time Visual Tracking of Complex Structures", IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, vol. 24, no. 7, July 2002 (2002-07-01), pages 932 - 946
Attorney, Agent or Firm:
HARAKENZO WORLD PATENT & TRADEMARK (JP)
Patent business corporation Hara [Kenzo] international patent firm (JP)
Patent business corporation Hara [Kenzo] international patent firm (JP)
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