| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-dimensional machine map which is not viewed by a human, but enables a machine to determine its own position and attitude, in a three-dimensional map for navigation and automatic driving. SOLUTION: A three-dimensional machine map generating device is provided with: an all-around video image photographing device 111 for acquiring an all-around video image from a traveling vehicle; a CV arithmetic unit 112 for generating an all-around CV video image on the basis of the all-around video image; a geometrical simple figure detecting device 113 for three-dimensionally calculating the positional coordinates and the attitude of a geometrical simple figure by extracting, selecting and separating the geometrical simple figure from the all-around CV video image; a three-dimensional coordinates attaching device 114 for detecting three-dimensional position and an attitude from tracking data of the figure detected by geometrical simple figure detection to attach three-dimensional coordinates; an attribute registering device 115 for giving attributes to the detected geometrical simple figure; and a three-dimensional machine map recorder 116 for reconstructing a three-dimensional space corresponding to a three-dimensional space to be a source from the detected geometrical simple figure and generating and recording a three-dimensional machine map. COPYRIGHT: (C)2009,JPO&INPIT |
