| 摘要 |
PROBLEM TO BE SOLVED: To identify the shape of a target accomplishing a mission. SOLUTION: This method consists of a phase 1 process in which the closest point from the three-dimensional image of the target obtained by a sensor is extracted and the center of gravity of the area of a two-dimensional image is calculated (I), a phase 2 process in which the contour length from the closest point to each contour is calculated when the coordinates of the closest point coincides with those of the center of gravity of the area (II), a phase 3 process in which a linear part is extracted from the contour when both coordinates do not coincide or when the maximum value/ minimum value of the contour length is not close to 1, the target is judged as a cylindrical target in the case any pair of linear part inclinations coincide and the target is judged as a conical target in the case any pair does not coincide (III), a phase 4 process in which curvature from the closest point of the three-dimensional image toward contours is calculated at a time when maximum value/minimum value≈1, and the target is identified as a spherical target when the curvature is a significant value (IV), and a phase 5 process in which, in the case the curvature is not a significant value, the target is judged as the conical target when the inclination from the closest point of the three-dimensional image toward the contours is a significant value and the target is judged as the cylindrical target when the inclination is not a significant value.
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