| 摘要 |
PROBLEM TO BE SOLVED: To provide a picture processor which can detect a peculiar part that requires the control of behavior when a robot and a vehicle autonomously move. SOLUTION: A distance picture acquirement means acquiring a distance picture based on the three-dimensional coordinate values of respective points on the surface of an object, which are obtained by measuring the distance of the respective points on the surface of the object in the front view of a distance sensor, a plane detection means detecting a plane from the three- dimensional coordinate values on the surface of the object, which are obtained from the distance picture, an edge detection means detecting an edge from the distance picture, a peculiar part judging means judging whether or not the edge is a peculiar part according to whether the edge detected by the edge detection means and the plane detected by the plane detection means satisfy a prescribed condition or not and a peculiar part map storage means storing the peculiar part based on the result of the peculiar part judgment means are installed. |
