Patent ID: 7373270

Claim:
A diagnosing device for a stereo camera mounted on a robot, said device comprising: a flat surface portion on which texture for stereo camera diagnosis is provided; an attitude unit that causes said robot apparatus placed on said diagnostic mat to assume a stance suitable for obtaining an image of the diagnostic mat by searching for a visual line direction of the stereo camera such that the texture fits in the region to be diagnosed within an image obtained by the stereo camera; and adjusting the size of the region to be diagnosed within the image obtained by the stereo camera such that the texture covers the size in the visual line direction of the stereo camera; a creation unit adapted to create a distance image based on the image obtained by said stereo camera; an image detection unit adapted to detect the flat face of said diagnostic mat from said created distance image; and a measurement unit adapted to measure the flatness of said detected flat face, and verifying the performance of a stereo camera according to whether or not the flatness is greater than a standard flatness, wherein when the measured flatness of the detected flat face meets at least the standard flatness, performance of the diagnosing device is determined to be sufficient and a determination is made that a calibration is unnecessary, and wherein when the measured flatness of the detected flat face is below the standard flatness, performance of the diagnosing device is determined to be insufficient and a determination is made that a calibration is necessary, wherein said robot includes a ground-contact portion for contact with a floor face, and wherein an indicator indicates a place on said surface portion where said ground-contact portion of said robot is placed.