Patent ID: 8306661

Claim:
A system for establishing, in a three-dimensional working space for a robot, a space which an obstacle occupies as a no-entry zone for the robot, the system comprising: an image pickup unit configured to: pick up a first image of the obstacle from a first viewpoint with a first orientation with respect to the obstacle while a whole of the obstacle is within a predetermined first field of view, and pick up a second image of the obstacle from a second viewpoint with a second orientation with respect to the obstacle while the whole of the obstacle is within a predetermined second field of view, the second viewpoint and second orientation being different from the first viewpoint and first orientation, respectively; a display unit configured to display the picked-up first and second images on a screen thereof; a first closed region specifying unit configured to receive a first closed region specified by an operator on the screen, the first closed region enclosing an imaged obstacle in the first image; a first projection area determining unit configured to determine a first virtual projection area by extending the first closed region in the first orientation; a second closed region specifying unit configured to receive a second closed region specified by an operator on the screen, the second closed region enclosing the imaged obstacle in the second image; a second projection area determining unit configured to determine a second virtual projection area by extending the second closed region in the second orientation; and an establishing unit configured to establish an overlap region between the first and second projection areas as the no-entry zone for the robot.