Patent Document ID: 20040013295
Application ID: 10387647
Patent Status: 0

Claim One:
1. An obstacle recognition apparatus comprising: a distance image producing means for producing a distance image on the basis of a disparity image calculated based on image data supplied from a plurality of imaging means provided in a robot apparatus and sensor data outputs from a plurality of sensing means provided in the robot apparatus and using a homogeneous transform matrix corresponding to the disparity image at locations of the plurality of imaging means; a plane detecting means for detecting plane parameters on the basis of the distance image produced by the distance image producing means; a coordinate transforming means for transforming a coordinate system at the locations of the plurality of imaging means into a one on the floor surface; a floor surface detecting means for detecting the floor surface on the basis of the plane parameters detected by the plane detecting means; and an obstacle recognizing means for selecting a point on the floor surface using the plane parameters supplied from the plane detecting means to recognize an obstacle on the basis of the selected point.