Environment map generating apparatus, environment map generating method, and environment map generating program
First Claim
1. An environment map generating apparatus comprising:
- a storage unit that stores a model of an obstacle;
a cross-sectional image generating unit that generates a cross-sectional image of the model of the obstacle at a predetermined height from a reference plane in an environment;
a model processing unit that generates a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle;
an obtaining unit that obtains an obstacle map at the predetermined height from the reference plane in the environment; and
an environment map generating unit that generates an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.
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Abstract
An environment map generating apparatus is provided. The environment map generating apparatus includes: a storage unit, a cross-sectional image generating unit, a model processing unit, an obtaining unit and an environment map generating unit. The storage unit stores a model of an obstacle. The cross-sectional image generating unit generates a cross-sectional image of a model of an obstacle at a predetermined height from a reference plane in an environment. The model processing unit generates a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle. The obtaining unit obtains an obstacle map at the predetermined height from the reference plane in the environment. The environment map generating unit generates an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.
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Citations
11 Claims
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1. An environment map generating apparatus comprising:
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a storage unit that stores a model of an obstacle; a cross-sectional image generating unit that generates a cross-sectional image of the model of the obstacle at a predetermined height from a reference plane in an environment; a model processing unit that generates a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle; an obtaining unit that obtains an obstacle map at the predetermined height from the reference plane in the environment; and an environment map generating unit that generates an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An environment map generating method comprising:
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generating a cross-sectional image of a model of an obstacle at a predetermined height from a reference plane in an environment; generating a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle; obtaining an obstacle map at the predetermined height from the reference plane in the environment; and generating an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.
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11. An environment map generating program for causing a computer to execute the steps of:
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generating a cross-sectional image of a model of an obstacle at a predetermined height from a reference plane in an environment; generating a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle; obtaining an obstacle map at the predetermined height from the reference plane in the environment; and generating an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.
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Specification