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

[미국특허] Obstacle detecting apparatus and method, and storage medium which stores program for implementing the method 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06F-015/62
출원번호	US-0741021 (2000-12-21)
우선권정보	JP-0052557 (2000-02-28)
발명자 / 주소	Shinichi Matsunaga JP
출원인 / 주소	Honda Giken Kogyo Kabushiki Kaisha JP
대리인 / 주소	Arent Fox Kintner Plotkin & Kahn
인용정보	피인용 횟수 : 21 인용 특허 : 8

초록 ▼

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.

대표청구항 ▼

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.

이 특허에 인용된 특허 (8) 인용/피인용 타임라인 분석

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[미국특허] Obstacle detecting apparatus and method, and storage medium which stores program for implementing the method 원문보기

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[미국특허] Obstacle detecting apparatus and method, and storage medium which stores program for implementing the method 원문보기

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