Obstacle recognition apparatus and method, obstacle recognition program, and mobile robot apparatus
First Claim
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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Abstract
An obstacle recognition apparatus is provided which can recognize an obstacle by accurately extracting a floor surface. It includes a distance image generator (222) to produce a distance image using a disparity image and homogeneous transform matrix, a plane detector (223) to detect plane parameters on the basis of the distance image from the distance image generator (222), a coordinate transformer (224) to transform the homogeneous transform matrix into a coordinate of a ground-contact plane of a robot apparatus (1), and a floor surface detector (225) to detect a floor surface using the plane parameters from the plane detector (223) and result of coordinate transformation from the coordinate transformer (224) and supply the plane parameters to an obstacle recognition block (226). The obstacle recognition block (226) selects one of points on the floor surface using the plane parameters of the floor surface detected by the floor surface detector (225) and recognizes an obstacle on the basis of the selected point.
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Citations
8 Claims
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1. An obstacle recognition apparatus comprising:
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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. - View Dependent Claims (2, 3)
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4. An obstacle recognition method comprising steps of:
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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 distance image producing means;
detecting plane parameters on the basis of the distance image produced in the distance image producing step;
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 in the plane detecting step; and
an obstacle recognizing means for selecting a point on the floor surface using the plane parameters supplied from the detecting step to recognize an obstacle on the basis of the selected point.
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5. An obstacle recognition program executed by a robot apparatus to recognize an obstacle, the program comprising steps of:
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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 the 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 distance image producing means;
detecting plane parameters on the basis of the distance image produced in the distance image producing step;
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 in the plane detecting step; and
an obstacle recognizing means for selecting a point on the floor surface using the plane parameters supplied from the detecting step to recognize an obstacle on the basis of the selected point.
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6. A mobile robot apparatus composed of a head unit having a plurality of imaging means and sensing mans, at least one moving leg unit having a sensing means, and a body unit having an information processing means and sensing, and that moves on a floor surface by the use of the moving leg unit while recognizing an obstacle on the floor surface, the apparatus comprising, in the body unit thereof:
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a distance image producing means for producing a distance image on the basis of a disparity image calculated based on image data supplied from the plurality of imaging means provided in the head unit and sensor data outputs from the plurality of sensing means provided in the head, moving leg and body units, respectively, and using a homogeneous transform matrix corresponding to the disparity image at locations of the plurality of imaging means;
a plane detecting means for a 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. - View Dependent Claims (7, 8)
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Specification