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Obstacle recognition apparatus and method, obstacle recognition program, and mobile robot apparatus

  • US 20040013295A1
  • Filed: 03/13/2003
  • Published: 01/22/2004
  • Est. Priority Date: 03/15/2002
  • Status: Active Grant
First Claim
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1. An obstacle recognition apparatus comprising:

  • a distance image producing means for producing a distance image on the basis of a disparity image calculated based on image data supplied from a plurality of imaging means provided in a robot apparatus and sensor data outputs from a plurality of sensing means provided in the robot apparatus and using a homogeneous transform matrix corresponding to the disparity image at locations of the plurality of imaging means;

    a plane detecting means for detecting plane parameters on the basis of the distance image produced by the distance image producing means;

    a coordinate transforming means for transforming a coordinate system at the locations of the plurality of imaging means into a one on the floor surface;

    a floor surface detecting means for detecting the floor surface on the basis of the plane parameters detected by the plane detecting means; and

    an obstacle recognizing means for selecting a point on the floor surface using the plane parameters supplied from the plane detecting means to recognize an obstacle on the basis of the selected point.

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