METHOD FOR RECOGNIZING OBSTACLE

摘要

PROBLEM TO BE SOLVED: To detect simply an obstacle at high speed and with high reliability. SOLUTION: A first image is obtained by an optical sensor at a first time point; a second image is obtained at a second time point thererafter; a first deformed lower-portion image is generated by projecting an image section of the first obtained image present below a horizontal line from an optical sensor image surface to a base plane; a first deformed upper-portion image is generated by projecting an image section of the first obtained image present above a horizontal line from the optical sensor image surface to a virtual plane parallel to the base plane; a second deformed lower-portion image is generated by projecting an image section of the second obtained image present below a horizontal line from the optical sensor image surface to a base plane; a second deformed upper-portion image is generated by projecting an image section of the second obtained image present above a horizontal line from the optical sensor image surface to a virtual plane parallel to the base plane; a lower different portion image is obtained from the first and second lower-portion images; an upper different portion image is obtained from the first and second upper-portion images; and it is determined from evaluation of the lower and upper different portion images whether there is an obstacle in a running path of a movable carrying body. COPYRIGHT: (C)2009,JPO&INPIT