Obstacle detecting apparatus and method, and storage medium which stores program for implementing the method

• US 6,470,271 B2
• Filed: 12/21/2000
• Issued: 10/22/2002
• Est. Priority Date: 02/28/2000
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Matsunaga, Shinichi
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/741,021
• Publication Number:
  US 20010018640A1
• Time in Patent Office: 670 Days
• Field of Search: 701/301, 701/28, 701/96, 701/300, 382/106, 382/107, 382/154, 382/276, 382/281, 348/113, 348/118
• US Class Current: 701/301
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06V 10/48 by mapping characteristic values of the pattern into a parameter space, e.g. Hough transformation
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

An obstacle detecting apparatus is disclosed, with which obstacles can be reliably detected so that a self-controlled robot or vehicle can drive safely. The apparatus comprises a first section having a distance sensor, for measuring the distance of each measurement point of objects existing in a visual field of the distance sensor and obtaining a three-dimensional coordinate value for each measurement point, so as to generate a distance image; a second section for projecting each measurement point of the objects onto at least one of predetermined horizontal and vertical planes, where each plane is divided into grid cells, and the resolution of the divided grid cells is lower than the measurement resolution of the distance sensor; and calculating the number of the measurement points projected onto each grid cell in the relevant plane, and generating a three-dimensional histogram indicating the distribution of the measurement points in the grid cells, a third section for converting the histogram to binary data by comparing the histogram with a predetermined threshold value; and a fourth section for extracting one or more obstacles by performing a clustering operation on the binary data, and generating an obstacle map by which the positional relationship between the distance sensor and each obstacle is determined.

Claims

1. An obstacle detecting apparatus comprising:

a distance image obtaining section having a distance sensor, for measuring the distance of each measurement point of objects existing in a visual field in front of the distance sensor and obtaining a three-dimensional coordinate value for each measurement point, and generating a distance image based on the three-dimensional coordinate values of the measurement points;

a histogram generating section for;

projecting each measurement point of the objects onto at least one of predetermined horizontal and vertical planes, where each plane is divided into grid cells, and the resolution of the divided grid cells is lower than the measurement resolution of the distance sensor; and

calculating the number of the measurement points projected onto each grid cell in the relevant plane, and generating a three-dimensional histogram indicating the distribution of the measurement points in the grid cells;

a binary converting section for converting the histogram to binary data by comparing the histogram with a predetermined threshold value; and

an obstacle map generating section for extracting one or more obstacles by performing a clustering operation on the binary data obtained by the binary converting section, and generating an obstacle map by which the positional relationship between the distance sensor and each obstacle is determined.

2. An obstacle detecting apparatus as claimed in claim 1, further comprising:

a correcting section for correcting the number of the measurement points projected onto each grid cell, calculated by the histogram generating section, based on the distance from the distance sensor to each measurement point.

3. A vehicle drive control apparatus comprising an obstacle detecting apparatus as claimed in one of claims 1 and 2, comprising:

a movement control section for controlling the driving of a vehicle by referring to the obstacle map and controlling the vehicle to avoid the obstacles defined in the obstacle map.

4. A self-controlled robot comprising an obstacle detecting apparatus as claimed in one of claims 1 and 2, comprising:

a movement control section for controlling the movement of the robot by referring to the obstacle map and making the robot avoid the obstacles defined in the obstacle map.

5. An obstacle detecting method comprising:

a distance image obtaining step of measuring the distance of each measurement point of objects existing in a visual field in front of a distance sensor and obtaining a three-dimensional coordinate value for each measurement point, and generating a distance image based on the three-dimensional coordinate values of the measurement points;

a histogram generating step of;

projecting each measurement point of the objects onto at least one of predetermined horizontal and vertical planes, where each plane is divided into grid cells, and the resolution of the divided grid cells is lower than the measurement resolution of the distance sensor; and

calculating the number of the measurement points projected onto each grid cell in the relevant plane, and generating a three-dimensional histogram indicating the distribution of the measurement points in the grid cells;

a binary converting step of converting the histogram to binary data by comparing the histogram with a predetermined threshold value; and

an obstacle map generating step of extracting one or more obstacles by performing the clustering operation of the binary data obtained in the binary converting step, and generating an obstacle map by which the positional relationship between the distance sensor and each obstacle is determined.

6. An obstacle detecting method as claimed in claim 5, further comprising:

a correcting step of correcting the number of the measurement points projected onto each grid cell, calculated in the histogram generating step, based on the distance from the distance sensor to each measurement point.

7. A computer readable storage medium storing a program for making a computer execute an operation of detecting obstacles existing in a visual field of a distance sensor, the operation comprising:

a distance image obtaining step of measuring the distance of each measurement point of objects existing in a visual field in front of a distance sensor and obtaining a three-dimensional coordinate value for each measurement point, and generating a distance image based on the three-dimensional coordinate values of the measurement points;

a histogram generating step of;

projecting each measurement point of the objects onto at least one of predetermined horizontal and vertical planes, where each plane is divided into grid cells, and the resolution of the divided grid cells is lower than the measurement resolution of the distance sensor; and

calculating the number of the measurement points projected onto each grid cell in the relevant plane, and generating a three-dimensional histogram indicating the distribution of the measurement points in the grid cells;

a binary converting step of converting the histogram to binary data by comparing the histogram with a predetermined threshold value; and

an obstacle map generating step of extracting one or more obstacles by performing a clustering operation on the binary data obtained in the binary converting step, and generating an obstacle map by which the positional relationship between the distance sensor and each obstacle is determined.

8. A computer readable storage medium as claimed in claim 7, wherein the operation further comprises:

a correcting step of correcting the number of the measurement points projected onto each grid cell, calculated in the histogram generating step, based on the distance from the distance sensor to each measurement point.