| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a plane estimating method which enables accurate estimation of coordinates of a plane without giving precise knowledge beforehand, in regard to the plane estimating method for estimating the coordinates of an unknown plane, based on the coordinates of a plurality of points in a three-dimensional space. Ž<P>SOLUTION: A plane estimating device 20 is installed on a floor surface 10. The plane estimating device 20 acquires the coordinates of observation points in an observation space A and selects, from the observation points, candidate points which may constitute the floor surface 10. Based on the coordinates of the candidate points, a temporary approximate plane is calculated. A processing wherein the candidate points located at positions apart from this approximate plane are removed as outliers and the approximate plane is calculated again, is repeated. Lastly the coordinates of the floor surface 10 are calculated based on the candidate points left after the removal and on the observation points acquired first. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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