| 摘要 |
<P>PROBLEM TO BE SOLVED: To prepare a three-dimensional obstacle map to avoid obstacles in navigation of an autonomous vehicle. <P>SOLUTION: The autonomous vehicle includes an image capturing device. The image capturing device is focused on a predetermined number of different specified distances to capture an image at each of the specified distances. Which regions in the captured images are in focus is identified, and a corresponding lens-focus distance is assigned to each of the regions that are in focus. A composite image is formed from the captured images, and each of the regions is labeled with the corresponding lens-focus distance. The three-dimensional obstacle map is then created from the composite image. The obstacle map has an x, y, z coordinate system, with x and y being proportional to pixel horizontal and vertical positions and z being the lens-focus distance. <P>COPYRIGHT: (C)2009,JPO&INPIT |
