Title:
CONTROL DEVICE, OBJECT DETECTION SYSTEM, OBJECT DETECTION METHOD, AND PROGRAM
Document Type and Number:
Japanese Patent JP2019185664
Kind Code:
A
Abstract:
To provide a control device capable of efficiently detecting a target object, even when the target object is blocked by another object.SOLUTION: An object recognition unit 114 recognizes a target object 80 existing in a three-dimensional environment 4 by using measurement data acquired from a sensor 12. An information generation unit 116 integrates a plurality of measurement data, to generate three-dimensional environmental information. A position decision unit 120 decides the optimum position of the sensor 12 when performing measurement next. A sensor control unit 140 moves the sensor 12 to the decided optimum position. The position decision unit 120 decides, as the optimum position, the position of the sensor 12 capable of photographing an image for making the size of an area blocked by at least one first object larger by using the three-dimensional environmental information.SELECTED DRAWING: Figure 3
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Inventors:
YOSHIKAWA MEGUMI
YOSHIZAWA SHINTARO
MORI YUTO
YOSHIZAWA SHINTARO
MORI YUTO
Application Number:
JP2018079235A
Publication Date:
October 24, 2019
Filing Date:
April 17, 2018
Export Citation:
Assignee:
TOYOTA MOTOR CORP
International Classes:
G06T7/70; G01B11/00; G06T7/521; G06T7/593
Domestic Patent References:
| JP2016099257A | 2016-05-30 | |||
| JP2012037491A | 2012-02-23 | |||
| JP2013010155A | 2013-01-17 |
Other References:
大槻 正樹、佐藤 幸男: "“物体の形状計測におけるレンジファインダの視点選択”", 電子情報通信学会論文誌, vol. 81, no. 6, JPN6021047521, 25 June 1998 (1998-06-25), JP, pages 1269 - 1277, ISSN: 0004700771
ALEXANDER ANDREOPOULOS ET AL.: ""Active 3D Object Localization Using a Humanoid Robot"", IEEE TRANSACTIONS ON ROBOTICS, vol. 27, no. 1, JPN6021047523, 10 December 2010 (2010-12-10), US, pages 47 - 64, XP011333015, ISSN: 0004649143, DOI: 10.1109/TRO.2010.2090058
ALEXANDER ANDREOPOULOS ET AL.: ""Active 3D Object Localization Using a Humanoid Robot"", IEEE TRANSACTIONS ON ROBOTICS, vol. 27, no. 1, JPN6021047523, 10 December 2010 (2010-12-10), US, pages 47 - 64, XP011333015, ISSN: 0004649143, DOI: 10.1109/TRO.2010.2090058
Attorney, Agent or Firm:
Ken Ieiri