Mobile apparatus
First Claim
1. A mobile apparatus comprising:
- a plurality of imaging devices, wherein the apparatus travels recognizing objects based on a plurality of images thereof captured by the imaging devices;
a measurement device, wherein the device measures a current position and direction of the imaging devices;
a map data storing section, wherein the section stores map data including at least registered information on positions of stationary objects that exist within a region where the apparatus travels;
a recognized distance calculating section, wherein the section obtains a parallax for the plurality of images, thereby calculating a recognized distance from the imaging devices to each object;
a reference distance calculating section, wherein the section calculates a reference distance from the imaging devices to a front border of each stationary object according to the current position and direction measured by the measurement device and the map data;
a retracting section for determining a range of image processing, wherein the section compares the recognized distance of a pixel of each image with the reference distance corresponding thereto, thereby selecting a set of pixels to be processed so as to generate a retracted image;
a detecting section for detecting the objects from the retracted image;
a transport device; and
a transport controller for controlling movement of the transport device according to information about the objects detected by the detecting section.
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Accused Products
Abstract
A mobile apparatus is provided, which includes a plurality of imaging devices, a measurement device for measuring a current position and direction of the imaging devices, a map data storing section which stores map data including at least registered information on positions of stationary objects, a recognized distance calculating section which obtains a parallax for a plurality of images, a reference distance calculating section which calculates a reference distance from the imaging devices to a front border of each stationary object, a retracting section for determining a range of image processing, which selects a set of pixels to be processed so as to generate a retracted image, a detecting section for detecting objects from the retracted image, a transport device, and a transport controller for controlling movement of the transport device according to information about the objects detected by the detecting section.
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Citations
12 Claims
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1. A mobile apparatus comprising:
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a plurality of imaging devices, wherein the apparatus travels recognizing objects based on a plurality of images thereof captured by the imaging devices;
a measurement device, wherein the device measures a current position and direction of the imaging devices;
a map data storing section, wherein the section stores map data including at least registered information on positions of stationary objects that exist within a region where the apparatus travels;
a recognized distance calculating section, wherein the section obtains a parallax for the plurality of images, thereby calculating a recognized distance from the imaging devices to each object;
a reference distance calculating section, wherein the section calculates a reference distance from the imaging devices to a front border of each stationary object according to the current position and direction measured by the measurement device and the map data;
a retracting section for determining a range of image processing, wherein the section compares the recognized distance of a pixel of each image with the reference distance corresponding thereto, thereby selecting a set of pixels to be processed so as to generate a retracted image;
a detecting section for detecting the objects from the retracted image;
a transport device; and
a transport controller for controlling movement of the transport device according to information about the objects detected by the detecting section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification