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1. 发明申请

WO2005088244A9 PLANE DETECTOR, PLANE DETECTING METHOD, AND ROBOT APPARATUS WITH PLANE DETECTOR 审中-公开
标题翻译：平面检测器，平面检测方法和机器人与平面检测器
公开(公告)号：WO2005088244A9
公开(公告)日：2008-03-13
申请号：PCT/JP2005004839
申请日：2005-03-17
申请人： SONY CORP , GUTMANN STEFFEN , FUKUCHI MASAKI , SABE KOHTARO , KAWAMOTO KENTA
发明人： GUTMANN STEFFEN , FUKUCHI MASAKI , SABE KOHTARO , KAWAMOTO KENTA
IPC分类号： G01B11/24 , B62D57/024 , G06K9/00 , G06T1/00 , G06T7/00
CPC分类号： G06K9/00664 , B62D57/024 , G06K9/00201 , G06T7/13 , G06T7/73 , G06T2207/30252
摘要： A plane detecting unit (3) of a plane detector has a line segment extracting section (4) which selects a group of distance data points on the same plane from among distance data points forming an image and extracts line segments from the distance data point group and a region expanding section (5) which detects one or more plane regions present in the image from a line segment group of all the line segments extracted by the line segment extracting section (4). The line segment extracting section (4) draws a line segment (L1) connecting the ends of the distance data point group, seeks a point of interest (brk) from which the distance to the line segment (L1) is the largest, divides the data point group at the point of interest if the distance is a predetermined value or more, determines a line segment (L2) by the least squares method if the distance is below the predetermined value, judges that the line segment is of a zigzag shape if a predetermined number of data points are continuously present on one side of the line segment (L2), divides the data point group at the point of interest (brk), and repeats the above processings. With this, planes are correctly detected at a time from the distance data including measurement noise robustly against noise.
摘要翻译：平面检测器的平面检测单元（3）具有线段提取部（4），其从形成图像的距离数据点中选择同一平面上的一组距离数据点，并从距离数据点组提取线段以及区域扩展部（5），其从由所述线段提取部（4）提取的所有线段的线段组检测所述图像中存在的一个以上的平面区域。线段提取部分（4）绘制连接距离数据点组的端部的线段（L1），寻找距离线段（L1）的距离最大的兴趣点（brk）如果距离是预定值或更大，则在感兴趣点处的数据点组，如果距离低于预定值，则通过最小二乘法确定线段（L2），判断线段是否为之字形，如果在线段（L2）的一侧上连续存在预定数量的数据点，在兴趣点（brk）处划分数据点组，并重复上述处理。由此，可以从包括测量噪声的距离数据一次正确地检测到平面，以抵抗噪声。

2. 发明申请

WO2005087452A9 ROBOT DEVICE, BEHAVIOR CONTROL METHOD FOR THE ROBOT DEVICE, AND MOVING DEVICE 审中-公开
标题翻译：机器人装置，机器人装置的行为控制方法和移动装置
公开(公告)号：WO2005087452A9
公开(公告)日：2008-03-13
申请号：PCT/JP2005004838
申请日：2005-03-17
申请人： SONY CORP , GUTMANN STEFFEN , FUKUCHI MASAKI
发明人： GUTMANN STEFFEN , FUKUCHI MASAKI
IPC分类号： B25J5/00 , B25J13/00 , B62D57/032 , G06T7/00
CPC分类号： B62D57/032 , G06T7/97
摘要： A robot device observes the external world by a stereo vision system (1) and outputs stereo data (D1) as a distance image, the stereo data (D1) being three-dimensional distance information calculated by a parallax of both eyes. A plane detector (2) detects planes from the distance image to recognize the planes present in the environment. From plane data (D2), a stair recognizer (3) extracts a plane which the robot can climb up and down, recognizes a stair from that plane, and outputs stair data (D4). A stair climb-up/-down controller (4) outputs a behavior control command (D5) for realizing the movement for climbing up and down the stair by using the stair data (D4). This enables a mobile body itself to obtain information on a stair to autonomously perform the movement of stair climb up and down.
摘要翻译：机器人设备通过立体视觉系统（1）观察外部世界，并将立体声数据（D1）作为距离图像输出，立体声数据（D1）是由双眼视差计算的三维距离信息。平面检测器（2）从距离图像检测平面以识别环境中存在的平面。从平面数据（D2），楼梯识别器（3）提取机器人可以上下爬升的平面，从该平面识别楼梯，并输出楼梯数据（D4）。楼梯上升/下降控制器（4）通过使用楼梯数据（D4）输出用于实现楼梯上下移动的行为控制命令（D5）。这使得移动体本身能够获得楼梯上的信息，以自主地执行楼梯上下移动。

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