Object position detecting apparatus, map creating apparatus, autonomous mobile apparatus, object position detecting method, and computer program product for object position detection
First Claim
1. An object position detecting apparatus comprising:
- range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object;
image capturing units, each capturing an image data for the sensing region;
a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information; and
a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region.
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Abstract
An object position detecting apparatus includes range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object, image capturing units, each capturing an image data for the sensing region, a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information and a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region.
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Citations
18 Claims
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1. An object position detecting apparatus comprising:
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range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object;
image capturing units, each capturing an image data for the sensing region;
a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information; and
a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A map creating apparatus comprising:
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range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object;
image capturing units, each capturing an image data for the sensing region;
a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information;
a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region; and
a map generating unit that generates map data of a vicinity of a position of the map creating apparatus by ensuring consistency of the position of the object detected by the position detecting unit as time series.
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15. An autonomous mobile apparatus comprising:
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range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object;
image capturing units, each capturing an image data for the sensing region;
a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information;
a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region; and
a movement controlling unit that controls a movement of the autonomous mobile apparatus so as to avoid the object, based on the position of the object detected by the position detecting unit as time series.
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16. An autonomous mobile apparatus comprising:
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range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object;
image capturing units, each capturing an image data for the sensing region;
a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information;
a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region;
a map generating unit that generates map data of a vicinity of a position of the autonomous mobile apparatus by ensuring consistency of the position of the object detected by the position detecting unit as time series; and
a movement controlling unit that controls a movement of the autonomous mobile apparatus so as to avoid the object, based on the map data generated by the map generating unit.
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17. An object position detecting method which is performed by an apparatus comprising:
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calculating approximate values of distances to an object sensed by range sensors each sensing the object within a sensing region and obtaining an object information indicating existence of the object; and
determining a candidate region where the object exists in the image data by image capturing units each capturing the image data for the sensing region, based on the approximate values of the distances, and determining a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region.
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18. A computer program product having a computer readable medium including programmed instructions for object position detection which is performed by an apparatus, wherein the instructions, when executed by a computer, cause the computer to perform:
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calculating approximate values of distances to an object sensed by range sensors each sensing the object within a sensing region and obtaining an object information indicating existence of the object; and
determining a candidate region where the object exists in the image data by image capturing units each capturing the image data for the sensing region, based on the approximate values of the distances, and determining a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region.
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Specification