Image processing apparatus, image processing method, computer program, and movable body
First Claim
Patent Images
1. A legged movable body comprising:
- an optical distance measuring section;
an edge filter;
a denoising section;
a distance measuring apparatus;
a control section;
a drive section;
an action plan generating section;
an impact timing estimating section;
a distance estimating section; and
a determination section,wherein;
the distance measuring apparatus comprises at least one processor, and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the distance measuring apparatus at least to perform distance measurement,the distance measuring apparatus further comprises the optical distance measuring section, the edge filter, and the denoising section,the optical distance measuring section measures a distance to an object reflecting light, and generates and outputs a range image representing the distance to the object,the edge filter calculates an edge evaluation value for each pixel of the range image, and extracts a pixel having an edge evaluation value larger than a predetermined threshold value as an edge, and generates an edge image representing the extracted edge,the denoising section removes distance data of a pixel serving as an edge part in the edge image as noise among each pixel of the range image, and generates a range image from which distance values of all the pixels serving as the edge part is removed as a denoised range image,the at least one memory and the computer program code are configured to, with the at least one processor, cause the distance measuring apparatus at least to output the denoised range image,the action plan generating section determines a movement destination and a moving speed of the legged movable body based on the denoised range image,the control section determines, according to an action plan determined by the action plan generating section,which foot of the legged movable body takes a step forward and makes a landing,a timing, a stride, and a direction of the step taken by the movable body, andcontrols of the drive section, orthe control section performs a panning, rolling, or tilting control for the optical distance measuring section of the distance measuring apparatus,the drive section causes a movable section of the legged movable body to be driven according to controls by the control section, and causes the legged movable body to walk,the impact timing estimating section estimates, based on a control of the control section, an impact timing, wherein the impact timing comprises a time it takes for light emitted from the optical distance measuring section of the legged movable body to reflect from the object and impact the optical distance measuring section,the distance estimating section estimatesa moving direction and a moving speed of the object based on a previous denoised range image,a position of the object at the impact to the optical distance measuring section of the legged movable body based on the moving direction and the moving speed of the object,a position and a direction of the legged movable body at the impact to the optical distance measuring section of the legged movable body, anda distance from the legged movable body to the object at the impact to the optical distance measuring section of the legged movable body,the determination section measures an actual measured distance to the object in the denoised range image captured at the impact timing, and determines reliability of the denoised range image by comparing the actual measured distance to the object in the denoised range image with the estimated distance to the object estimated by the distance estimating section.
1 Assignment
0 Petitions
Accused Products
Abstract
An image processing apparatus includes an edge extracting section which extracts an edge in a range image and a removing section which removes a distance value of a pixel of an edge part extracted by the edge extracting section in the range image.
10 Citations
1 Claim
-
1. A legged movable body comprising:
-
an optical distance measuring section; an edge filter; a denoising section; a distance measuring apparatus; a control section; a drive section; an action plan generating section; an impact timing estimating section; a distance estimating section; and a determination section, wherein; the distance measuring apparatus comprises at least one processor, and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the distance measuring apparatus at least to perform distance measurement, the distance measuring apparatus further comprises the optical distance measuring section, the edge filter, and the denoising section, the optical distance measuring section measures a distance to an object reflecting light, and generates and outputs a range image representing the distance to the object, the edge filter calculates an edge evaluation value for each pixel of the range image, and extracts a pixel having an edge evaluation value larger than a predetermined threshold value as an edge, and generates an edge image representing the extracted edge, the denoising section removes distance data of a pixel serving as an edge part in the edge image as noise among each pixel of the range image, and generates a range image from which distance values of all the pixels serving as the edge part is removed as a denoised range image, the at least one memory and the computer program code are configured to, with the at least one processor, cause the distance measuring apparatus at least to output the denoised range image, the action plan generating section determines a movement destination and a moving speed of the legged movable body based on the denoised range image, the control section determines, according to an action plan determined by the action plan generating section, which foot of the legged movable body takes a step forward and makes a landing, a timing, a stride, and a direction of the step taken by the movable body, and controls of the drive section, or the control section performs a panning, rolling, or tilting control for the optical distance measuring section of the distance measuring apparatus, the drive section causes a movable section of the legged movable body to be driven according to controls by the control section, and causes the legged movable body to walk, the impact timing estimating section estimates, based on a control of the control section, an impact timing, wherein the impact timing comprises a time it takes for light emitted from the optical distance measuring section of the legged movable body to reflect from the object and impact the optical distance measuring section, the distance estimating section estimates a moving direction and a moving speed of the object based on a previous denoised range image, a position of the object at the impact to the optical distance measuring section of the legged movable body based on the moving direction and the moving speed of the object, a position and a direction of the legged movable body at the impact to the optical distance measuring section of the legged movable body, and a distance from the legged movable body to the object at the impact to the optical distance measuring section of the legged movable body, the determination section measures an actual measured distance to the object in the denoised range image captured at the impact timing, and determines reliability of the denoised range image by comparing the actual measured distance to the object in the denoised range image with the estimated distance to the object estimated by the distance estimating section.
-
Specification
-
- Resources
Litigation Campaign Assessment
Thank you for your request. You will receive a custom alert email when the Litigation Campaign Assessment is available.
×
-
Current AssigneeHonda Motor Co., Ltd. (Honda Motor Company)
-
Original AssigneeHonda Motor Co., Ltd. (Honda Motor Company)
-
InventorsKitajima, Toshihiro, Kamiyama, Tomoyuki
-
Primary Examiner(s)Bali, Vikkram
-
Assistant Examiner(s)Mangialaschi, Tracy
-
Application NumberUS13/518,930Publication NumberTime in Patent Office2,148 DaysField of SearchNoneUS Class Current1/1CPC Class CodesG01S 7/4802 using analysis of echo sign...G06T 2207/10028 Range image; Depth image; 3...G06T 5/20 using local operatorsG06T 5/70 Denoising; SmoothingG06T 7/13 Edge detection
