THREE-DIMENSIONAL OBJECT RECOGNITION APPARATUS, THREE-DIMENSIONAL OBJECT RECOGNITION METHOD, AND VEHICLE
First Claim
1. A three-dimensional object recognition apparatus comprising:
- an omnidirectional sensor that measures surrounding objects in all directions, and generates positional information capable of specifying a position of each of the objects as a result of the measurement;
a three-dimensional measurement device that measures an object within a certain measurement range among the surrounding objects, and generates three-dimensional shape information capable of specifying a three-dimensional shape of the object as a result of the measurement; and
a control unit that updates a shape to be recognized as the three-dimensional shape of the object based on the three-dimensional shape information generated by the three-dimensional measurement device when the object is within the measurement range of the three-dimensional measurement device,wherein the control unit tracks the object based on the positional information generated by the omnidirectional sensor, even after the object has moved out of the measurement range of the three-dimensional measurement device.
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Abstract
A three-dimensional object recognition apparatus according to the invention includes: an omnidirectional sensor that measures surrounding objects in all directions, and generates positional information capable of specifying positions of the objects as a result of the measurement; a three-dimensional measurement device that measures an object within a certain measurement range among the surrounding objects, and generates three-dimensional shape information capable of specifying a three-dimensional shape of the object as a result of the measurement; and a control unit that updates a shape to be recognized as the three-dimensional shape of the object based on the three-dimensional shape information generated by the three-dimensional measurement device when the object is within the measurement range of the three-dimensional measurement device. The control unit tracks the object based on the positional information generated by the omnidirectional sensor, even after the object has moved out of the measurement range of the three-dimensional measurement device.
24 Citations
11 Claims
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1. A three-dimensional object recognition apparatus comprising:
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an omnidirectional sensor that measures surrounding objects in all directions, and generates positional information capable of specifying a position of each of the objects as a result of the measurement; a three-dimensional measurement device that measures an object within a certain measurement range among the surrounding objects, and generates three-dimensional shape information capable of specifying a three-dimensional shape of the object as a result of the measurement; and a control unit that updates a shape to be recognized as the three-dimensional shape of the object based on the three-dimensional shape information generated by the three-dimensional measurement device when the object is within the measurement range of the three-dimensional measurement device, wherein the control unit tracks the object based on the positional information generated by the omnidirectional sensor, even after the object has moved out of the measurement range of the three-dimensional measurement device. - View Dependent Claims (2, 3, 4, 5, 8, 9, 10, 11)
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6. A three-dimensional object recognition method comprising the steps of:
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measuring, by a three-dimensional measurement device, a three-dimensional shape of an object within a certain measurement range of the three-dimensional measurement device among surrounding objects, and updating a shape to be recognized as the three-dimensional shape of the object within the measurement range of the three-dimensional measurement device based on a result of the measurement; and measuring, by an omnidirectional sensor, positions of the surrounding objects in all directions, and tracking, based on a result of the measurement, an object that has moved out of the measurement range of the three-dimensional measurement device.
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7. A vehicle comprising:
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an omnidirectional sensor that measures surrounding objects in all directions, and generates positional information capable of specifying a position of each of the objects as a result of the measurement; a three-dimensional measurement device that measures an object within a certain measurement range among the surrounding objects, and generates three-dimensional shape information capable of specifying a three-dimensional shape of the object as a result of the measurement; and a control unit that updates a shape to be recognized as the three-dimensional shape of the object based on the three-dimensional shape information generated by the three-dimensional measurement device when the object is within the measurement range of the three-dimensional measurement device, plans a travel path to avoid contact with the obstacle, based on the recognized three-dimensional shape of the object, and controls the vehicle to travel along the planned travel path, wherein the control unit tracks the object based on the positional information generated by the omnidirectional sensor, even after the object has moved out of the measurement range of the three-dimensional measurement device.
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Specification