Patent ID: 6826293
Filing Date: 2004-11-30
Classification: G05D

Abstract:
An image processing device for an autonomous robot or vehicle, comprising:a distance image capture device which captures a distance image based upon three dimensional coordinate values obtained for various points upon environmental structure surfaces by measuring the distances to said points upon said environmental structure surfaces in the forward visual field of a distance sensor; a plane detection device which detects planes from said three dimensional coordinate values upon said environmental structure surfaces obtained from said distance image; an edge detection device which detects edges as spots where the distance abruptly changes from said distance image; a singular spot decision device which decides whether or not said edges include singular spots, according to whether or not the edges which have been detected by said edge detection device and the planes which have been detected by said plane detection device satisfy predetermined conditions; and a singular spot map storage device which stores said singular spots as a singular spot map, based upon the results from said singular spot decision device for detecting singular spots, required for movement control when a robot or vehicle moves autonomously.