| 摘要 |
PROBLEM TO BE SOLVED: To provide an apparatus and method for object recognition that are suitable for recognizing the shape of an object with the use of information on measurement performed by a two-dimensional distance measuring device. SOLUTION: The object recognition apparatus 200 includes a sensing processor 110, a two-dimensional distance measuring device 112, a motor 116 that drives the two-dimensional distance measuring device 112 to rotate, and an encoder 118 that detects the rotational angular position of the motor 116. The two-dimensional distance measuring device 112 includes a distance measuring sensor 112a, a motor 112c, and an encoder 112d that detects the rotational angular position of the motor 112c. Moreover, distance measurement is performed by rotating the distance measuring sensor 112a on a horizontal axis, and measurement of distances on a plurality of planes to be measured is performed by rotating the two-dimensional distance measuring device 112 on a vertical axis. A slope at each point of measurement and the frequency of appearance of slopes are computed in accordance with information on the distances thus measured. The shape of an object existing within a measuring range is recognized in accordance with the frequency of appearance. COPYRIGHT: (C)2009,JPO&INPIT
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