| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a device capable of accurately recognizing an arrangement position for a level difference part such as a stair including a spatial position and a direction of a front side edge of a tread of the level difference part by utilizing stereo images acquired by a stereo camera. <P>SOLUTION: A plurality of lines of arithmetic processing areas R3 min(k2) are set to a reference image of cameras 3R and 3L, a plurality of candidate positions v(k1) of an actual edge projection line L52r in each of the plurality of lines of arithmetic processing areas R3 min(k2) are set, and in each arithmetic processing area, a value of an evaluation function indicating the adaptation to a position of the actual edge projection line (a projection line of the front side edge of the level difference part) of each candidate position is calculated utilizing projective transformation. An estimated edge projection line obtained by estimating the actual edge projection line is determined such that composite adaptation obtained by compositing the adaptations of the positions of the estimated edge projection lines in each of the plurality of lines of arithmetic processing areas R3 min(k2) becomes the highest. On the basis of the estimated edge projection line and a plane parameter of the tread of the level difference part, the spatial arrangement of the level difference part is recognized. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
