초록 ▼

In processing topographical information necessary for the traveling of a robot or the like furnished with an automatic traveling function; topography is predicted from the topographical information previously given, so as to prepare a predictive image, a difference image between the predictive image

In processing topographical information necessary for the traveling of a robot or the like furnished with an automatic traveling function; topography is predicted from the topographical information previously given, so as to prepare a predictive image, a difference image between the predictive image and an actual image caught by a television camera installed on the robot or the like is obtained, and the obtained result if used for correcting the topographical information previously given.

대표청구항 ▼

In an apparatus which processes three dimensional topographical information on the arrangement of roads, buildings, obstacles and the like, which are not necessarily located perpendicularly to a direction of movement of an automatic traveling object, for controlling movement of an automatic travelin

In an apparatus which processes three dimensional topographical information on the arrangement of roads, buildings, obstacles and the like, which are not necessarily located perpendicularly to a direction of movement of an automatic traveling object, for controlling movement of an automatic traveling object, an image processing apparatus comprising: image input means mounted on the automatic traveling object for viewing a surrounding landscape and providing an output signal representing a two dimensional intensity distribution of light reflected or emitted from roads, buildings, obstacles and the like; storage means for storing three dimensional map data as to the arrangement of the roads, building, obstacles and the like in an area where the automatic traveling object is to move; predicting means connected to said storage means for predicting an output of said image input means for a given location of the automatic traveling object by producing a signal representing a predictive two dimensional intensity distribution of light reflected or emitted from roads, building, obstacles and the like on the basis of said three dimensional map data; means for comparing an output signal representing an actual two dimensional input intensity distribution of light reflected or emitted from roads, buildings, obstacles and the like from said image input means and the signal representing the predictive two dimensional intensity distribution of light reflected or emitted from roads, buildings, obstacles and the like and for obtaining a difference two dimensional intensity distribution of light reflected or emitted from roads, buildings, obstacles and the like; and correction means connected to said comparing means for updating map data in said storage means on the basis of said difference two dimensional intensity distribution of light reflected or emitted from roads, buildings, obstacles and the like.