PLANE COMPONENT DETECTOR, GROUND PLANE DETECTOR, AND OBSTACLE DETECTOR

摘要

PROBLEM TO BE SOLVED: To provide a plane component detector capable of detecting plane components with poor feature points. SOLUTION: An image acquisition part 110 acquires a stereo image by photographing the plane components with a plurality of cameras. A corresponding point search part 120 performs stereo mapping using a one-dimensional phase restriction correlation method for every one-dimensional image signal on an epipolar line in the stereo image. A three-dimensional restoration part 130 calculates parallax information on the basis of the stereo image and detects three-dimensional positions of the plane components on the basis of the parallax information. A ground plane detection part 140 detects a ground plane from continuity of the plane components. COPYRIGHT: (C)2009,JPO&INPIT