| 摘要 |
PROBLEM TO BE SOLVED: To allow localization of leaves of a plant existing on the ground with high accuracy.SOLUTION: A moving body 11 is provided with a distance sensor 3 and an imaging apparatus 5. The distance sensor 3 measures a distance to each measurement object point. The imaging apparatus images an area including each measurement object point. At each measurement time, a data processor 9 executes a step (A) of representing a position of a measurement object point with coordinate values in a sensor coordinate system fixed to the distance sensor 3 on the basis of the distance to the measurement object point which the distance sensor 3 measures at the measurement time, a step (B) of converting the coordinate values in the sensor coordinate system to coordinate values in a camera coordinate system fixed to the imaging apparatus at an imaging time on the basis of a variation in movement of the moving body 11 between the imaging time and the measurement time, and a step (C) of determining whether the converted coordinate values correspond to a pixel representing a leaf in an image obtained by the imaging apparatus or not and, if the coordinate values are determined to correspond to a pixel representing a leaf, converts the coordinate values to coordinate values in a coordinate system at rest fixed on the ground. |
