Movable Body Circumstance Monitoring Apparatus
First Claim
1. In a movable body circumstance monitoring apparatus having a plurality of image capturing means mounted on different positions of a movable body for capturing an image of environment of said movable body to output an image information, and display means for selecting one of the image information output from said plurality of image capturing means to be displayed, the movable body circumstance monitoring apparatus is characterized in comprising:
- environmental information detection means for detecting and storing environmental information around said movable body on the basis of the image information output from single specific image capturing means out of said plurality of image capturing means;
movable body information detection means for successively detecting and storing a position and posture of said movable body;
information combining means for combining the information detected by said movable body information detection means and the information detected by said environmental information detection means, and correcting a relationship of the position and posture of said movable body relative to said environment to output the information;
obstacle detection means for detecting an obstacle to bar against movement of said movable body on the basis of the information output from said information combining means; and
display control means for determining a positional relationship between said movable body and said obstacle, on the basis of the information detected by said obstacle detection means and the information output from said information combining means, selecting one of the image information output from second image capturing means other than said specific image capturing means out of said plurality of image capturing means and the image information output from said specific image capturing means, on the basis of said positional relationship, and controlling said display means to display the selected image information.
2 Assignments
0 Petitions
Accused Products
Abstract
There are provided environmental information detection means (SR) for detecting and storing environmental information around a movable body on the basis of image information output from a specific image capturing means (C1), movable body information detection means (MB) for successively detecting and storing a position and posture of the movable body, information combining means (CB) for combining these information, and correcting a relationship of the position and posture of the movable body relative to the environment to output the information, and obstacle detection means (OD) for detecting an obstacle to bar against movement of the movable body on the basis of the output information. Based on the detected information or the like, a positional relationship between the movable body and the obstacle is determined, then, on the basis of the positional relationship, either one of the information output from the specific image capturing means (C1) and second image capturing means (C2) is selected by display control means (VC), and displayed by display means (VD).
-
Citations
10 Claims
-
1. In a movable body circumstance monitoring apparatus having a plurality of image capturing means mounted on different positions of a movable body for capturing an image of environment of said movable body to output an image information, and display means for selecting one of the image information output from said plurality of image capturing means to be displayed, the movable body circumstance monitoring apparatus is characterized in comprising:
-
environmental information detection means for detecting and storing environmental information around said movable body on the basis of the image information output from single specific image capturing means out of said plurality of image capturing means;
movable body information detection means for successively detecting and storing a position and posture of said movable body;
information combining means for combining the information detected by said movable body information detection means and the information detected by said environmental information detection means, and correcting a relationship of the position and posture of said movable body relative to said environment to output the information;
obstacle detection means for detecting an obstacle to bar against movement of said movable body on the basis of the information output from said information combining means; and
display control means for determining a positional relationship between said movable body and said obstacle, on the basis of the information detected by said obstacle detection means and the information output from said information combining means, selecting one of the image information output from second image capturing means other than said specific image capturing means out of said plurality of image capturing means and the image information output from said specific image capturing means, on the basis of said positional relationship, and controlling said display means to display the selected image information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
Specification