| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for estimating a plane in a range image, and a range image camera, clearly separating the leg of a person from a floor surface with a small amount of computation even if a contact surface of the leg of the person and the floor surface is included in the imaged range image. <P>SOLUTION: Three-dimensional data of pixels arranged in a square lattice is converted to a houndstooth arrangement, a largest value among respective magnitudes of cross products of all pairings of the normal vector of a small triangle of interest and the normal vectors of three adjacent small triangles is derived, and a large triangle composed of the small triangle of interest and the adjacent small triangles is determined to be a plane candidate if the largest value is less than or equal to a first threshold, after which similar processing is repeated with this large triangle taken as a small triangle, and this repetition is recursively performed while enlarging the small triangle of interest, and when the area of a new large triangle is greater than or equal to a predetermined area, the region thereof is determined to be a plane and separated from the range image. <P>COPYRIGHT: (C)2011,JPO&INPIT |
