Object position detecting apparatus, map creating apparatus, autonomous mobile apparatus, object position detecting method, and computer program product for object position detection

• US 20070058838A1
• Filed: 07/14/2006
• Published: 03/15/2007
• Est. Priority Date: 09/13/2005
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Taniguchi, Yasuhiro
• Application Number:
  US11/486,119
• Publication Number:
  US 20070058838A1
• Time in Patent Office: Days
• US Class Current: 382/103
• 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

Abstract

An object position detecting apparatus includes range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object, image capturing units, each capturing an image data for the sensing region, a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information and a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region.

Claims

1. An object position detecting apparatus comprising:

range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object;

image capturing units, each capturing an image data for the sensing region;

a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information; and

a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region.

2. The apparatus according to claim 1, wherein the position determining unit changes the candidate region determined when the position of the object cannot be determined in the image data, and performs image processing of the image data using the threshold within the candidate region changed to determine the position of the object.

3. The apparatus according to claim 2, wherein the position detecting unit further controls the threshold according to the position within the candidate region, and performs the image processing of the image data to detect the position of the object.

4. The apparatus according to claim 1, wherein

the distance calculating unit calculates the approximate values of the distances to wall surfaces which is sensed by the range sensors as obstacles;

and

the position detecting unit sets the candidate region in the image data based on the approximate values of the distances, and detects a position of a corner which is a boundary between the different wall surfaces from the image data using the threshold varied between the inside and the outside of the candidate region.

5. The apparatus according to claim 4, wherein

the range sensors are a first sensor that senses an object in front of the object position detecting apparatus and a second range sensor that senses an object on the side of the object position detecting apparatus itself;

the distance calculating unit calculates an approximate value of a first distance to a wall surface sensed by the first range sensor and an approximate value of a second distance to a wall surface sensed by the second range sensor; and

the position detecting unit sets a predetermined range in an oblique direction between the first range sensor and the second range sensor as the candidate region in the image data and detects the position of the corner, using the threshold varied between the inside and the outside of this candidate region when a difference between the approximate value of the first distance and the approximate value of the second distance is in a predetermined range.

6. The apparatus according to claim 5, further comprising

a storage unit that stores inclination data in which a correlation between a ratio of the first distance to the wall surface in front of the object position detecting apparatus and the second distance to the wall surface on the side of the object position detecting apparatus and an oblique angle of the object position detecting apparatus with respect to the wall surface is set in advance, and position data in which a correlation between the oblique angle and the position of the corner in the image data is set in advance,

wherein the position detecting unit further sets the candidate region in the image data from the ratio of the approximate value of the first distance and the approximate value of the second distance, the inclination data, and the position data, and detects the position of the corner using the threshold varied between the inside and the outside of the candidate region.

7. The apparatus according to claim 4, wherein the position detecting unit detects an edge within the candidate region in the image data to thereby detect the position of the corner.

8. The apparatus according to claim 7, wherein when plural edges is detected within the candidate region, the position detecting unit detects the position of the corner from the plural edges based on characteristics of regions delineated by the edge on the image data.

9. The apparatus according to claim 8, wherein when plural edges is detected within the candidate region, the position detecting unit detects the position of the corner from the plural edges by a brightness difference between the regions delineated by the edge on the image data.

10. The apparatus according to claim 8, wherein when plural edges is detected within the candidate region, the position detecting unit detects the position of the corner from the plural edges by a color difference between the regions delineated by the edge on the image data.

11. The apparatus according to claim 4, the position detecting unit, on failing to detect the position of the corner from the plural edges, further extends the candidate region in the image data to detect the corner using the threshold varied between the inside and the outside of the extended candidate region.

12. The apparatus according to claim 11, wherein the position detecting unit extends the candidate region in the image data vertically at the edge to detect the corner from upper and lower shapes of the edge.

13. The apparatus according to claim 1, wherein

the number of the image capture units is at least two;

and

the position detecting unit further calculates a disparity from the two pieces of image data captured by the two image capture units, sets the candidate region in the image data based on this disparity, and detects the position of the object based on the image data and the approximate value of the distance using the threshold varied between the inside and the outside of the candidate region.

14. A map creating apparatus comprising:

range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object;

image capturing units, each capturing an image data for the sensing region;

a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information;

a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region; and

a map generating unit that generates map data of a vicinity of a position of the map creating apparatus by ensuring consistency of the position of the object detected by the position detecting unit as time series.

15. An autonomous mobile apparatus comprising:

range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object;

image capturing units, each capturing an image data for the sensing region;

a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information;

a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region; and

a movement controlling unit that controls a movement of the autonomous mobile apparatus so as to avoid the object, based on the position of the object detected by the position detecting unit as time series.

16. An autonomous mobile apparatus comprising:

range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object;

image capturing units, each capturing an image data for the sensing region;

a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information;

a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region;

a map generating unit that generates map data of a vicinity of a position of the autonomous mobile apparatus by ensuring consistency of the position of the object detected by the position detecting unit as time series; and

a movement controlling unit that controls a movement of the autonomous mobile apparatus so as to avoid the object, based on the map data generated by the map generating unit.

17. An object position detecting method which is performed by an apparatus comprising:

calculating approximate values of distances to an object sensed by range sensors each sensing the object within a sensing region and obtaining an object information indicating existence of the object; and

determining a candidate region where the object exists in the image data by image capturing units each capturing the image data for the sensing region, based on the approximate values of the distances, and determining a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region.

18. A computer program product having a computer readable medium including programmed instructions for object position detection which is performed by an apparatus, wherein the instructions, when executed by a computer, cause the computer to perform:

calculating approximate values of distances to an object sensed by range sensors each sensing the object within a sensing region and obtaining an object information indicating existence of the object; and

determining a candidate region where the object exists in the image data by image capturing units each capturing the image data for the sensing region, based on the approximate values of the distances, and determining a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region.