JP7206127B2 - IMAGE SENSOR INFORMATION CORRECTION METHOD AND MOVING OBJECT - Google Patents

Description

The present invention relates to an image sensor information correction method for acquiring distances to the ground and obstacles as multi-point distance information at the stage of creating a surrounding map of a mobile object, and to a mobile object equipped with a plurality of image sensors.

2. Description of the Related Art Conventionally, as a moving object equipped with a plurality of image sensors for obtaining multi-point distance information, there is one described in Patent Document 1, for example.
The moving body described in Patent Document 1 is a mobile robot, and includes two LRFs (Laser Range Finder) as image sensors that scan a laser beam to measure the distance on the front side in the moving direction. , and a processing unit that processes a large amount of distance information acquired by these LRFs to create a 3D map.

In this case, the two LRFs are integrally equipped with an INS (Inertial Navigation System). , and a 3D map is created based on each multi-point distance information after correction.

JP 2011-145156 A

Here, in a mobile robot equipped with a large number of LRFs as an image sensor, for example, a construction machine such as a power shovel that is robotized by retrofitting a large number of LRFs, it is necessary to prevent the multi-point information acquired by the LRFs from being affected by shaking. It is practically difficult to rigidly attach all of the large number of LRFs to the .

Therefore, in order to obtain accurate multi-point information, the above-mentioned INS are integrally attached to all of a large number of LRFs, or LRFs arranged in the vicinity are connected using a high-rigidity attachment. However, if the INS are integrally attached to all of the LRFs, the cost is unavoidable. And there is a problem that it invites an increase in size, and solving this problem has been a conventional problem.

The present invention has been made with a focus on the above-mentioned conventional problems. It is an object of the present invention to provide an information correcting method for an image sensor and a moving body capable of suppressing the .

A first aspect of the present invention is an image sensor information correcting method for correcting multi-point distance information of an image sensor that acquires multi-point distance information around a plurality of image sensors mounted on a moving object, the method comprising: At least one image sensor of the sensors is integrally attached with an inertial navigation system that corrects the amount of movement due to shaking included in the multi-point distance information acquired by the image sensor, and is used as a main image sensor, and the main image sensor. at least one of the plurality of image sensors other than the image sensor is arranged as a secondary image sensor so that an image of the secondary image sensor is associated with an image of the primary image sensor, and the secondary image sensor with respect to the image of the primary image sensor The movement amount due to shaking included in the multi-point distance information of the secondary image sensor is corrected by associating the images.

In a second aspect of the present invention, the image of the secondary image sensor is arranged so that the image of the secondary image sensor reflects the location in the image of the primary image sensor. and superimposing the location of the image captured by the secondary image sensor on the location in the image of the primary image sensor to correct the amount of movement due to shaking included in the multi-point distance information of the secondary image sensor. It is configured.

In a third aspect of the present invention, the main image sensor and the secondary image sensor are arranged so that a member whose shape information of the moving object is known is reflected in the image of the main image sensor and the image of the secondary image sensor. Thus, the image of the secondary image sensor is associated with the image of the primary image sensor, and based on the known shape information of the member reflected in the primary image sensor and the secondary image sensor, the multiple It is configured to correct the amount of movement due to shaking included in the point distance information.

A fourth aspect of the present invention is an image sensor information correcting method for correcting the multi-point distance information of an image sensor that acquires multi-point distance information around a plurality of image sensors mounted on a moving body, wherein the shape information is known. and the moving body includes an actuation mechanism capable of detecting an actuation amount of the movable member, at least one image sensor out of the plurality of image sensors acquires An inertial navigation system that corrects the amount of movement due to shaking included in the multi-point distance information is integrally attached as a main image sensor, and the main image sensor is mounted so that the movable member of the operating mechanism is reflected in the main image sensor. and at least one of the plurality of image sensors other than the main image sensor is arranged as a slave image sensor on the movable member of the actuation mechanism, and based on the actuation amount of the movable member of the actuation mechanism , the amount of movement due to shaking included in the multi-point distance information of the secondary image sensor is corrected.

On the other hand, according to a fifth aspect of the present invention, a plurality of image sensors for acquiring surrounding multi-point distance information and a processing unit for processing the multi-point distance information acquired by the plurality of image sensors to create a 3D map are provided. in a moving object equipped with an inertial navigation system that is integrally attached to at least one image sensor among the plurality of image sensors and corrects the amount of movement due to shaking included in the multi-point distance information acquired by the image sensor. an image sensor, and at least one of the plurality of image sensors other than the main image sensor is arranged as a secondary image sensor so that an image of the secondary image sensor is associated with an image of the primary image sensor, The processing unit corrects the amount of movement due to shake included in the multi-point distance information of the secondary image sensor by associating the image of the secondary image sensor with the image of the primary image sensor, and A 3D map is created based on each sensor output information after correction from the sensor.

In a sixth aspect of the present invention, the image of the secondary image sensor is arranged so that the image of the secondary image sensor reflects the location in the image of the primary image sensor, and the image of the secondary image sensor is projected onto the image of the primary image sensor. and the processing unit superimposes the location of the image captured by the secondary image sensor on the location in the image of the main image sensor, and the location of the image captured by the secondary image sensor is determined by the shake included in the multi-point distance information of the secondary image sensor. A movement amount is corrected, and a 3D map is created based on corrected sensor output information from the main image sensor and the sub-image sensor.

In a seventh aspect of the present invention, the main image sensor and the secondary image sensor are arranged so that a member whose shape information of the moving object is known is reflected in the image of the main image sensor and the image of the secondary image sensor. Thus, the image of the secondary image sensor is associated with the image of the primary image sensor, and the processing unit determines the secondary image sensor based on the known shape information of the member reflected in the primary image sensor and the secondary image sensor, respectively. A 3D map is created based on corrected sensor output information from the main image sensor and the slave image sensor by correcting the amount of movement due to shaking included in the multi-point distance information of the image sensor.

According to an eighth aspect of the present invention, a plurality of image sensors for acquiring surrounding multi-point distance information, an operating mechanism having a movable member whose shape information is known, and capable of detecting the amount of operation of the movable member, In a moving object having a processing unit that processes multi-point distance information acquired by a plurality of image sensors to create a 3D map, at least one image sensor among the plurality of image sensors acquires a multi-point distance information acquired by the image sensor. A main image sensor is formed by integrally attaching an inertial navigation system that corrects the amount of movement due to shaking included in the point distance information, and the main image sensor is arranged so that the movable member of the operating mechanism is reflected in the main image sensor. At least one of the plurality of image sensors other than the main image sensor is arranged as a secondary image sensor on the movable member of the operating mechanism, and the processing unit operates the movable member of the operating mechanism. A 3D map is generated based on each sensor output information after correction from the main image sensor and the slave image sensor by correcting the movement amount due to shaking included in the multi-point distance information of the slave image sensor based on the amount. is configured to create

In the image sensor information correction method according to the present invention, for example, when it is adopted in a mobile robot equipped with a large number of LRFs, it is possible to obtain accurate multi-point information by the LRFs, reduce the information acquisition cost, and reduce the size of the robot. A very good effect is brought about that it is also possible to realize weight reduction.

1A and 1B are an explanatory side view (a) and an explanatory plan view (b) of a hydraulic excavator that employs an image sensor information correction method according to an embodiment of the present invention; FIG. FIG. 2 is a perspective explanatory view of an LRF with an inertial navigation system mounted on the hydraulic excavator of FIG. 1; FIG. 2 is an explanatory diagram showing a flow when 3D map information is updated from two pieces of LRF information mounted on the hydraulic excavator of FIG. 1; FIG. 2 is an explanatory diagram of images acquired by two LRFs mounted on the hydraulic excavator of FIG. 1; FIG. 5 is a side explanatory view of a hydraulic excavator that employs an image sensor information correction method according to another embodiment of the present invention. FIG. 6 is an explanatory diagram showing a flow of updating 3D map information from two pieces of LRF information mounted on the hydraulic excavator of FIG. 5; FIG. 6 is an explanatory diagram of images acquired by two LRFs mounted on the hydraulic excavator of FIG. 5; FIG. 10 is an explanatory diagram of images acquired by two LRFs when an image sensor information correcting method according to still another embodiment of the present invention is employed;

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings.
FIGS. 1 to 4 show a hydraulic excavator as a moving body that employs an image sensor information correction method according to an embodiment of the present invention.

As shown in FIG. 1, a hydraulic excavator 1 includes a lower traveling body 3 having crawlers 2 on the left and right sides, and an upper rotating body 6 disposed above the lower traveling body 3 and having a cabin 4 and a working device 5. The working device 5 of the upper revolving body 6 includes a boom 51, an arm 52 and a bucket 53 which are hydraulically operated.

The crawlers 2 of the undercarriage 3 are driven by a motor mounted on the vehicle, but instead of the crawlers 2, in-hole motors or wheels driven by the motor are arranged in the front, rear, left, and right. good too. Instead of the bucket 53 of the work device 5 of the upper revolving body 6 , other work tools such as a steel frame cutting tool or a gripper may be attached to the arm 52 .

The hydraulic excavator 1 also includes LRFs 7 and 8 as image sensors arranged on the ceiling 4a and the front portion 4b of the cabin 4 of the upper revolving body 6, respectively.
In this case, the LRF 7 arranged on the ceiling 4a of the cabin 4 is attached together with an INS (inertial navigation system) 10 via a fixture 9, as also shown in FIG.

The hydraulic excavator 1 including the work device 5 and the LRFs 7 and 8 as described above includes an on-vehicle control device 20 mounted on the upper revolving structure 6 . It should be noted that a configuration may be provided in which a remote control device for operator operation that performs mutual data communication with the in-vehicle control device 20 is provided.

The in-vehicle control device 20 mainly includes a position sensor for detecting the self-position of the hydraulic excavator 1, a direction sensor for detecting the direction of the hydraulic excavator 1, a main computer, a transceiver, and a battery. , for example, GPS is adopted, and for the direction sensor, for example, an accelerometer or a magnetic sensor is adopted.

The main computer in this vehicle-mounted control device 20 has image processing means 40. This image processing means 40 has a memory section 41 and a processing section 42, as shown in FIG. The memory unit 41 stores multi-point distance information from the LRFs 7 and 8, movement amount information due to shaking acquired by the INS 10 (movement amount information obtained by integrating twice the acceleration at the time of shaking), and multi-point distance information acquisition. In addition to recording the positional relationship information of the LRFs 7 and 8 at the time, the position and direction information of the hydraulic excavator 1, the shape information of the working device 5, and the attitude information of the working device 5 are recorded.

At this time, the position and direction information of the hydraulic excavator 1 is data detected by the position sensor and the direction sensor, as described above. Further, the shape information of the working device 5 is data set in advance, and includes various dimensions of the boom 51 and the arm 52 of the working device 5 . Furthermore, the posture information of the working device 5 is data obtained from the rotation angles of the servomotors when rotating the boom 51 and the arm 52, respectively.

In this embodiment, the LRF 7 to which the INS 10 is integrally attached is used as the main image sensor, and the other LRF 8 is used as the secondary image sensor. As shown in FIG. By arranging the LRF8 so that a part of the image UV of a certain LRF7 overlaps (in the illustrated example, the mark M on the bucket 53 projected in the image UV of the LRF7 appears in the image LV of the LRF8), This image LV of LRF8 is associated with the image UV of LRF7.

In other words, in the image processing means 40 of the main computer in the on-vehicle control device 20, when the two LRFs 7 and 8 mounted on the hydraulic excavator 1 acquire the surrounding multi-point distance information and create a 3D map, first In the memory unit 41, multi-point distance information acquired by the LRFs 7 and 8, movement amount information due to shaking acquired by the INS 10, and mutual positional relationship information of the LRFs 7 and 8 at the time of acquisition of the multi-point distance information are recorded.

Next, in the processing unit 42, the movement amount due to shaking contained in the multi-point distance information of LRF7, which is the main image sensor, is corrected by the information obtained by the INS10. The overlapping portion of the image UV and the image LV acquired by the LRF8, which is the slave image sensor, corrects the amount of movement due to shaking included in the multi-point distance information of the LRF8, which is the slave image sensor.
Here, the image UV including the mark M of the main image sensor LRF7 and the image LV acquired by the secondary image sensor LRF8 are superimposed using a well-known IPC algorithm (Iterative Closest Point Algorithm). ) shall be used.
Then, the 3D map information is updated based on corrected sensor outputs (movement amounts) from LRF7, which is the main image sensor, and LRF8, which is the secondary image sensor.

Specifically, the measurement distance to the mark M in the image UV of LRF7, which is the main image sensor corrected by the information of INS10, is, for example, 3 m, and LRF8, which is the slave image sensor in which INS10 is not integrated. When the measured distance to the mark M in the image LV is, for example, 2.8 m, the image LV acquired by the slave image sensor LRF8 is shaken, for example, the actual distance is measured on the minus side. Even if there is such a movement amount of 0.1 m, the image LV acquired by the secondary image sensor LRF8 and the image UV including the mark M of LRF7 as the main image sensor overlap, so that the mark M of LRF8 The measured distance to is corrected to 2.9 m, and the 3D map information is updated based on the sensor output (movement amount) information after correction from LRF7, which is the main image sensor, and LRF8, which is the secondary image sensor. .

As described above, in the hydraulic excavator 1 of this embodiment, the INS 10 is highly rigidly tied to one of the two LRFs 7 and 8 as the image sensor, and the image LV and the image LV of the LRF 8 as the secondary image sensor are integrated. Since the LRFs 7 and 8 are arranged so that part of the image UV of the LRF 7, which is the main image sensor, overlaps, the INS 10 can be attached integrally to the other LRF 8, or the LRFs 7 and 8 can be attached using a highly rigid fixture. It is possible to acquire accurate multipoint information by LRF8 without connecting.

Therefore, since the INS 10 does not need to be integrally attached to the other LRF 8, the information acquisition cost can be kept low. Weight reduction can also be achieved.

FIGS. 5 to 7 show a hydraulic excavator as a moving body employing an image sensor information correcting method according to another embodiment of the present invention.

As shown in FIG. 5, this hydraulic excavator 1A is structurally different from the hydraulic excavator 1 according to the previous embodiment in that the LRF7A, which is the main image sensor integrally attached with the INS 10, is installed in the cabin of the upper revolving body 6. 4. It is attached to the rear via a support 6a.

In this embodiment, as shown in FIG. 6, the memory unit 41 of the image processing means 40 in the in-vehicle control device 20 stores the multi-point distance information by the LRFs 7A and 8, the movement amount information by the shake acquired by the INS 10, and the LRF 7A. , 8 at the time of multi-point distance information acquisition and the shape information of the working device 5 are recorded.

In this embodiment, as shown in FIG. 7, the image UV of the main image sensor LRF7A and the image LV of the other LRF8 that is the secondary image sensor to which the INS 10 is integrally attached are combined with the working device of the hydraulic excavator 1A. By arranging the LRFs 7A and 8 so that the ends 52a and 52b of the arm 52 whose shape information is known in 5 are reflected, the image LV of the LRF 8 is associated with the image UV of the LRF 7A.

In other words, in the image processing means 40 of the main computer in the vehicle-mounted control device 20, when the two LRFs 7A and 8 mounted on the hydraulic excavator 1 acquire the surrounding multi-point distance information and create a 3D map, the memory In the unit 41, the multi-point distance information acquired by the LRFs 7A and 8, the movement amount information due to shaking acquired by the INS 10, the positional relationship information of the LRFs 7A and 8 when acquiring the multi-point distance information, and the arm 52 of the work device 5 shape information is recorded.

Then, in the processing unit 42, the movement amount due to shaking included in the multi-point distance information of LRF7A, which is the main image sensor, is corrected by the information acquired by the INS10. Based on the shape information and posture information (spatial position information) of the end portions 52a and 52b of the arm 52 of the working device 5 of the hydraulic excavator 1A reflected in the image LV of the LRF8, which is the image sensor, the LRF8, which is the secondary image sensor, The amount of movement due to shaking included in the multi-point distance information is corrected, and the 3D map information is updated based on each sensor output (movement amount) information after correction from LRF7A, which is the main image sensor, and LRF8, which is the secondary image sensor. is made.

Specifically, the measurement distance to the arm 52 of the working device 5 is, for example, 4 m in the image UV of the LRF7A, which is the main image sensor corrected by the information of the INS 10, and the slave image sensor in which the INS 10 is not integrated. When the measured distance to the mark M in the image LV of the LRF8 is, for example, 3.8 m, the image LV acquired by the LRF8, which is the secondary image sensor, is shaken, for example, to the minus side of the actual distance Even if there is a movement amount of 0.1 m that would be measured, the arm in the work device 5 of the hydraulic excavator 1A that is reflected in the image UV of the main image sensor LRF7A and the image LV of the secondary image sensor LRF8 Based on the shape information and posture information of the ends 52a and 52b of the LRF 8, the measurement distance to the arm 52 in the working device 5 of the LRF 8 is corrected to 3.9 m, and the main image sensor LRF 7A and the secondary image sensor LRF 8 are corrected to 3.9 m. 3D map information is updated based on each sensor output (movement amount) information after correction from .

As described above, even in the hydraulic excavator 1A of this embodiment, the INS 10 is highly rigidly tied to one of the two LRFs 7A and 8 as the image sensor and integrated with the LRF 7A. Since the LRFs 7A and 8 are arranged so that the arm 52 whose shape information is known in the working device 5 of the hydraulic excavator 1A is reflected in the image LV and the image UV of the LRF 7 which is the main image sensor, the INS 10 is integrally attached to the other LRF 8. Also, it is possible to obtain accurate multi-point information from the LRF 8 without connecting the LRFs 7A and 8 with a high-rigidity fixture.

Therefore, since the INS 10 does not need to be integrally attached to the other LRF 8, the information acquisition cost can be kept low. Weight reduction can also be achieved.

FIG. 8 shows a working device 5 of a hydraulic excavator as a moving body that employs an image sensor information correcting method according to still another embodiment of the present invention.

As shown in FIG. 8, in this embodiment, the LRF 7 (not shown), which is the main image sensor to which the INS 10 is integrally attached, is projected so that one end 52a of the arm 52 of the work device 5 is reflected in the image UV of the LRF 7 (not shown). is arranged, and LRF8A as a follower image sensor is arranged on the bucket 53 connected to the other end 52b of the arm 52 whose shape information in the work device 5 is known. At this time, the movement amount of the bucket 53 connected to the other end 52b of the arm 52 in the direction of the arrow shown in the figure is obtained by the rotation sensor 12. As shown in FIG.

In this embodiment, in the processing unit 42 (not shown), the amount of movement due to shaking included in the multi-point distance information of the LRF 7A, which is the main image sensor, is corrected based on the information obtained by the INS 10. FIG. On the other hand, the movement amount of the bucket 53 connected to the other end 52b of the arm 52 whose one end 52a is reflected in the image UV of the main image sensor LRF 7 is measured by the rotation sensor 12. Based on the shape information, attitude information (spatial position information), and the operation amount of the bucket 53 obtained by the rotation sensor 12, the amount of movement due to shaking included in the multi-point distance information of the LRF 8A, which is the slave image sensor, is corrected, and the main The 3D map information is updated based on corrected sensor output (movement amount) information from the image sensor LRF7 and the secondary image sensor LRF8A.

Even in this embodiment, the INS 10 is tightly tied to one LRF 7 of the two LRFs 7 and 8 as image sensors and integrated, and one end 52a is attached to the image UV of the LRF 7 as the main image sensor. Since the LRF 8, which is a secondary image sensor, is arranged on the bucket 53 connected to the other end 52b of the arm 52 whose reflected shape information is known, the INS 10 can be integrally attached to the other LRF 8, and the LRFs 7A and 8 can be highly rigid. Accurate multi-point information can be acquired by the LRF8 without connecting using a mounting tool.

Therefore, since the INS 10 does not need to be integrally attached to the other LRF 8, the information acquisition cost can be kept low. Weight reduction can also be achieved.

In this embodiment, the operation amount of the bucket 53 in the working device 5 is obtained by the rotation sensor 12, but the operation amount of the bucket 53 is not limited to this. You may make it detect by.

In each of the above-described embodiments, a case in which the moving bodies equipped with a plurality of image sensors are all hydraulic excavators has been described as an example, but the moving bodies are not limited to hydraulic excavators.
Further, in each of the above-described embodiments, two LRFs (image sensors) for acquiring surrounding multi-point distance information are mounted on the moving body, and an INS (inertial navigation system) is integrally attached to one of the LRFs. One LRF is used as a main image sensor and the other LRF is used as a secondary image sensor, but the configuration is not limited to this. , and an INS may be integrally attached to one of the LRFs to form a main image sensor.
The image sensor information correction method and the structure of the moving body according to the present invention are not limited to the structure of the above-described embodiment, and the details of the structure may be changed as appropriate without departing from the gist of the present invention. It is possible.

1 Hydraulic excavator (moving body)
5 Working device (actuating mechanism)
7,7A LRF (main image sensor)
8,8A LRF (slave image sensor)
10 INS (Inertial Navigation System)
12 rotation sensor 42 processing unit 51 boom 52 arm (members whose shape information is known)
52a, 52b arm end 53 bucket (movable member)
LV image of main image sensor M mark UV image of secondary image sensor

Claims (8)

An image sensor information correcting method for correcting multi-point distance information of an image sensor that acquires surrounding multi-point distance information mounted in a plurality of moving bodies, comprising:
At least one image sensor of the plurality of image sensors is integrally attached with an inertial navigation device for correcting the amount of movement due to shaking included in the multi-point distance information acquired by the image sensor, and is used as a main image sensor; arranging at least one of the plurality of image sensors other than the main image sensor as a secondary image sensor such that an image of the secondary image sensor is associated with an image of the primary image sensor;
An image sensor information correcting method for correcting a movement amount due to shake included in the multi-point distance information of the slave image sensor by associating the image of the slave image sensor with the image of the master image sensor. relating the image of the secondary image sensor to the image of the primary image sensor by positioning the secondary image sensor such that the image of the secondary image sensor reflects a location within the image of the primary image sensor; 2. The image sensor according to claim 1, wherein the location of the image captured by the secondary image sensor is superimposed on the location in the image of the secondary image sensor to correct the amount of movement due to shaking included in the multi-point distance information of the secondary image sensor. Information Correction Method. By arranging the main image sensor and the slave image sensor such that the member whose shape information of the moving body is known is reflected in the image of the main image sensor and the image of the slave image sensor, the image of the slave image sensor is is associated with the image of the main image sensor, and based on known shape information of the member reflected in the main image sensor and the secondary image sensor, movement due to shaking included in the multi-point distance information of the secondary image sensor 2. The method of correcting information in an image sensor according to claim 1, wherein the correcting amount is corrected. An image sensor information correcting method for correcting multi-point distance information of an image sensor that acquires surrounding multi-point distance information mounted in a plurality of moving bodies, comprising:
When the movable body has a movable member whose shape information is known, and the moving body is provided with an actuation mechanism capable of detecting the amount of actuation of the movable member,
At least one of the plurality of image sensors is integrally attached with an inertial navigation device for correcting the amount of movement due to shaking included in the multi-point distance information acquired by the image sensor, and is used as a main image sensor;
The main image sensor is arranged so that the movable member of the operating mechanism is reflected on the main image sensor, and at least one of the plurality of image sensors other than the main image sensor is placed on the movable member of the operating mechanism. one as a slave image sensor,
An image sensor information correcting method for correcting the amount of movement due to shake included in the multi-point distance information of the slave image sensor based on the amount of operation of the movable member of the actuation mechanism. a plurality of image sensors that acquire surrounding multi-point distance information;
In a mobile body comprising a processing unit that processes multi-point distance information acquired by the plurality of image sensors and creates a 3D map,
At least one image sensor of the plurality of image sensors is integrally attached with an inertial navigation device for correcting the amount of movement due to shaking included in the multi-point distance information acquired by the image sensor, and is used as a main image sensor; arranging at least one of the plurality of image sensors other than the main image sensor as a secondary image sensor such that an image of the secondary image sensor is associated with an image of the primary image sensor;
In the processing unit, the image of the secondary image sensor is associated with the image of the primary image sensor to correct the movement amount due to shaking included in the multi-point distance information of the secondary image sensor, and A moving object that creates a 3D map based on corrected sensor output information from an image sensor. associating the image of the secondary image sensor with the image of the primary image sensor by positioning the secondary image sensor such that the image of the secondary image sensor reflects a location within the image of the primary image sensor;
The processing unit superimposes the location of the image captured by the secondary image sensor on the location in the image of the primary image sensor, and corrects the amount of movement due to shaking included in the multi-point distance information of the secondary image sensor. 6. The moving body according to claim 5, wherein a 3D map is created based on corrected sensor output information from the main image sensor and the slave image sensor. By arranging the main image sensor and the slave image sensor such that the member whose shape information of the moving body is known is reflected in the image of the main image sensor and the image of the slave image sensor, the image of the slave image sensor is to the image of the main image sensor,
The processing unit corrects the amount of movement due to shaking included in the multi-point distance information of the secondary image sensor based on known shape information of the member reflected in the primary image sensor and the secondary image sensor. 6. The moving body according to claim 5, wherein a 3D map is created based on corrected sensor output information from the main image sensor and the slave image sensor. a plurality of image sensors that acquire surrounding multi-point distance information;
an actuation mechanism having a movable member whose shape information is known and capable of detecting an actuation amount of the movable member;
In a mobile body comprising a processing unit that processes multi-point distance information acquired by the plurality of image sensors and creates a 3D map,
At least one of the plurality of image sensors is integrally attached with an inertial navigation device for correcting the amount of movement due to shaking included in the multi-point distance information acquired by the image sensor, and is used as a main image sensor;
The main image sensor is arranged so that the movable member of the operating mechanism is reflected on the main image sensor, and at least one of the plurality of image sensors other than the main image sensor is placed on the movable member of the operating mechanism. one as a slave image sensor,
The processing unit corrects the amount of movement due to shake included in the multi-point distance information of the secondary image sensor based on the amount of operation of the movable member of the operating mechanism, and the main image sensor and the secondary image sensor are corrected. A moving body that creates a 3D map based on each sensor output information after correction from.

Images