| 摘要 |
<P>PROBLEM TO BE SOLVED: To express a high-resolution environment in height direction in a way that is robust to observation noise. <P>SOLUTION: An environmental map creation device 1 includes a stereo vision system 2 that captures three-dimensional distance data; a plane detector 3 that receives the input of stereo data D1 from the stereo vision system 2 and detects planes within the environment from the stereo data D1; and an environmental map creation part 4 that updates an environmental map based on plane data D2 outputted from the plane detector 3 and outputs environmental map data D5. The environmental map creation device 1 includes a three-dimensional grid updating part 41 that creates and updates a three-dimensional environmental map, a height map verifying part 42 that compares for verification the three-dimensional environmental map and a two and a half dimensional height map showing height from a two-dimensional reference plane, and a height map updating part 43 that updates the two and a half dimensional height map based on the plane data D2 and three-dimensional grid obstacle probability data D3, so that the device can create the environmental map with high resistance to observation noise by complementing the two and a half dimensional plane map vulnerable to observation noise with three-dimensional grid height information. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
