| 摘要 |
PROBLEM TO BE SOLVED: To provide a picture processor which can easily detect a plane required 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 straight line extraction means obtaining the tree-dimensional coordinate values of the two points from a notice pixel in the distance picture and a pixel detached from the notice pixel by a prescribed distance and extracting plural straight lines on a horizontal plane by using a two-dimensional coordinate value obtained by deleting a vertical component from the three- dimensional coordinate value and a plane detection means obtaining the point on the surface of the object, which exist on the straight lines extracted by the straight line extraction means, and detecting the respective points existing on the same straight line as the same vertical plane. |
