| 摘要 |
PROBLEM TO BE SOLVED: To automatically and precisely detect a relative positional relationship between a stereo camera and a plane in the visual field. SOLUTION: Left and right images taken by the stereo camera are differentiated with respect to a horizontal direction (S1), the differentiated left and right images are projected on a Hough plane (S2), a gap amount is then calculated by comparing the data of the left and the right Hough planes (S3), and a plane parameter is obtained using the gap amount and the coordinate values (S4). Accordingly, the geometric parameter of the plane such as the ground or the floor surface in the visual field of the stereo camera is automatically obtained, and the relative positional relationship between the camera and the plane can be precisely grasped. COPYRIGHT: (C)2005,JPO&NCIPI
|
