| 摘要 |
PROBLEM TO BE SOLVED: To extract a floor area and an obstacle area from a camera image at high speed. SOLUTION: A dividing/reading part 14 divides an image fetched by a camera 11 into plural areas, and a cumulative operating part 15 operates and cumulates the absolute value of difference between the density data of respective picture elements in the areas and the set density (a density value is zero, for example). A floor/obstacle discriminating part 16 compares the accumulated value or average value of all the picture elements in the areas with the set value and discriminates whether the concerned area is the floor area or the obstacle area, based on the compared result. Besides, an average density calculating part 21 calculates the average density for each area, the cumulative operating part 15 operates and cumulates the absolute value of difference between the density for each picture element in the respective areas and the average density, and the floor/obstacle discriminating part 16 compares the cumulative value or average value of all the picture elements in the areas with the set value and discriminates whether the concerned area is the floor area or the obstacle area, based on the compared result. |
