| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a plane detection apparatus and a plane detection method which are used for detecting a plane on which a moving body can run, from images imaged by a pair of imaging means mounted on the moving body in order to support drivers of automobiles or realize automatic driving of autonomous moving vehicles, wherein a normal vector defining the plane and a distance from the imaging means as a base to the plane are highly accurately calculated in a short period of time. <P>SOLUTION: A rotational matrix and a translation vector between a base camera 12 and a reference camera 14 are read out from a parameter storage part 26, and a projective transformation matrix calculation part 28 estimates a projective transformation matrix, and then a plane parameter calculation part 30 uses a coefficient showing constant-fold indefiniteness of the projective transformation matrix resulting from singular value decomposition of the projective transformation matrix, the rotational matrix, and the translation vector to calculate a normal vector defining the plane and the distance from the base camera 12 to the plane. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
