WO1998020302A1 - Dispositif permettant de detecter un obstacle sur la surface de la voie de deplacement d'un objet en mouvement - Google Patents

Dispositif permettant de detecter un obstacle sur la surface de la voie de deplacement d'un objet en mouvement Download PDF

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Publication number
WO1998020302A1
WO1998020302A1 PCT/JP1997/004042 JP9704042W WO9820302A1 WO 1998020302 A1 WO1998020302 A1 WO 1998020302A1 JP 9704042 W JP9704042 W JP 9704042W WO 9820302 A1 WO9820302 A1 WO 9820302A1
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WO
WIPO (PCT)
Prior art keywords
road surface
dimensional
obstacle
image
moving object
Prior art date
Application number
PCT/JP1997/004042
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English (en)
Japanese (ja)
Inventor
Seiichi Mizui
Hiroyoshi Yamaguchi
Tetsuya Shinbo
Osamu Yoshimi
Original Assignee
Komatsu Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd. filed Critical Komatsu Ltd.
Priority to AU48845/97A priority Critical patent/AU4884597A/en
Publication of WO1998020302A1 publication Critical patent/WO1998020302A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Definitions

  • the present invention relates to a device for detecting an obstacle present on a traveling road surface on which a moving object such as an unmanned dump truck travels.
  • a device for detecting an obstacle on a traveling path of a mobile body such as an unmanned dump truck
  • a device that detects an obstacle by capturing an image of the front of the mobile body and processing the captured image.
  • Obstacle detection devices that use this type of image processing can obtain a greater amount of information than devices that use ultrasonic sensors, laser lasers, or millimeter-wave sensors to detect obstacles in the forward direction of the moving object. It has many advantages, such as a wide viewing angle and a wide range of obstacle detection.
  • the present inventors convert the distance image in the traveling direction of the moving object into a three-dimensional distribution of each pixel, specify a pixel group corresponding to a traveling path from the three-dimensional distribution state of the pixels, and
  • the present invention proposes an invention in which a road is regarded as a plane, and an object having a height higher than a predetermined height is detected as an obstacle based on the height of the plane, and attempts have been made to implement the present invention.
  • a moving object obstacle detection device using image processing requires a great deal of time for arithmetic processing in exchange for the large amount of information that can be obtained.
  • the method of detecting the white line painted along the road and specifying the range of image processing may certainly be applied to ordinary roads, but it is possible to apply it to rough terrain where unmanned dump trucks run. In such cases, it cannot be applied.
  • an object that does not exist on the original planned traveling path may be erroneously detected as an obstacle.
  • the obstacle detection method of the invention proposed by the present inventors, it is possible to detect an obstacle having a height equal to or higher than a predetermined height with reference to the traveling road surface, but the traveling road surface is a slope or the like.
  • the slope and the road height are not unique. Therefore, it is impossible to detect obstacles based on the height of this plane assuming that each part of the traveling road surface having the originally different slope and road surface height is regarded as a unique plane, which may cause erroneous detection.
  • the present invention has been made in view of such a situation, and enables to identify a traveling road surface from an image on any traveling road such as an uneven terrain, and to perform obstacle detection in real time. It is a first object of the present invention to reliably detect only obstacles on a planned traveling path without erroneous detection even if the traveling path is curved or branched.
  • the present invention ensures that even if the traveling road surface is a slope or the like and the slopes and road surface heights of the respective traveling road surfaces are different, obstacles having a predetermined height or higher based on the traveling road surface can be reliably detected.
  • a second object is to enable detection without erroneous detection.
  • the obstacle is detected based on the traveling road surface of the moving body and the three-dimensional image of the obstacle on the traveling road surface
  • a position detecting means for detecting a current position of the moving body as a three-dimensional coordinate position; and the traveling road surface in a three-dimensional coordinate system viewed from the moving body and the obstacle.
  • the moving object coordinate system Based on three-dimensional coordinate position data indicating the three-dimensional coordinate position of each point along the travel path and the current three-dimensional coordinate position of the moving object detected by the position detecting means, the moving object coordinate system
  • the three-dimensional coordinate position data of the traveling path is calculated, and the three-dimensional coordinate position data of the traveling path in the moving body coordinate system is matched with the three-dimensional image in the moving body coordinate system currently generated by the three-dimensional image generating means.
  • an image processing unit that cuts out a portion corresponding to the traveling road surface from the current three-dimensional image, and a portion corresponding to the running road surface that is cut out by the image processing unit in the three-dimensional image.
  • Detecting means for detecting the presence of the obstacle.
  • the three-dimensional coordinate position data S 0, S 1, S 2,... Of the traveling path 31 in the moving body coordinate system XI—Y 1—Z 1 are calculated.
  • the three-dimensional coordinate position data S 0, S l, S 2... Of the traveling path in the moving body coordinate system XI—Y l—Z 1 is generated by the currently generated moving body coordinate system XI—Y l—Z 1
  • a portion K corresponding to the traveling road surface 31 is cut out from the current three-dimensional image 40 (see the image 40 ′ in FIG. 9). Then, it is detected that the obstacle 33 exists for the portion K corresponding to the cut road surface 31 that has been cut out.
  • the obstacle is detected based on a traveling road surface of a moving body and a three-dimensional image of the obstacle on the traveling road surface.
  • position detecting means for detecting a current position of the moving object as a three-dimensional coordinate position
  • Three-dimensional image generating means for generating a current three-dimensional image of the traveling road surface and the obstacle in a three-dimensional coordinate system viewed from the moving body;
  • the moving object coordinate system Based on three-dimensional coordinate position data indicating the three-dimensional coordinate position of each point along the travel path and the current three-dimensional coordinate position of the moving object detected by the position detecting means, the moving object coordinate system
  • the three-dimensional coordinate position data of the traveling path is calculated, and the three-dimensional coordinate position data of the traveling path in the moving body coordinate system is matched with the three-dimensional image in the moving body coordinate system currently generated by the three-dimensional image generating means.
  • Image processing means for cutting out a specific portion of the traveling road surface in the current three-dimensional image
  • Detecting means for obtaining a specific portion of the cut road surface as a plane, and detecting that the obstacle is present on the plane;
  • the configuration of the second invention based on the three-dimensional coordinate position data of the traveling road and the current three-dimensional coordinate position of the moving object detected by the position detecting means, as shown in FIG.
  • the three-dimensional coordinate position data S 0, S l, and S 2 ′ ”of the traveling path 31 in the moving body coordinate system XI—Y 1—Z 1 are calculated.
  • the moving body coordinate system XI—Y l—Z The three-dimensional coordinate position data S 0, S l, S 2... of the travel path in 1 is converted to the currently generated three-dimensional image 40 (Fig. 8) in the mobile coordinate system X l— Y l— Z 1.
  • a specific portion L3 of the road surface 31 is cut out from the current three-dimensional image 40 (see the image 40 'in FIG. 9).
  • the specific portion L3 of the cut traveling road surface is obtained as a plane, and it is detected that the obstacle 33 exists on this plane.
  • FIG. 1 is a block diagram showing a configuration example of an embodiment of a device for detecting an obstacle on a traveling road surface of a moving object according to the present invention.
  • FIG. 2 is a flowchart showing a procedure of processing executed by the detection range specifying unit and the obstacle detection unit shown in FIG.
  • FIG. 3 is a diagram showing the relationship between the overall coordinate system and the vehicle body coordinate system.
  • FIG. 4 is a diagram schematically showing a traveling path on which the moving body of the embodiment travels.
  • FIG. 5 is a diagram showing a gradient of a traveling road and a road surface height according to the embodiment.
  • FIG. 6 is a diagram showing the road width of the traveling road according to the embodiment.
  • FIG. 7 is a diagram showing a distance image generated by the three-dimensional distance image generation unit shown in FIG.
  • FIG. 8 is a diagram showing a three-dimensional distribution image of pixels obtained by converting the distance image shown in FIG.
  • FIG. 9 is a diagram showing, as an image, only the traveling road surface or only a portion obtained by dividing the traveling road surface into sections.
  • X0—Y0—Z0 indicates the entire coordinate system
  • XI—Y1—Z1 indicates the vehicle body coordinate system that moves together with the moving body 1.
  • XI is a coordinate axis corresponding to the vehicle width direction of the moving body 1
  • Z1 is a coordinate axis corresponding to the traveling direction of the moving body 1 (scheduled traveling path 31)
  • Y1 is a vertical coordinate axis.
  • FIG. 1 shows a configuration of an obstacle detection device according to an embodiment of the present invention.
  • the obstacle detection device includes a position measurement sensor 7 that detects the current position of the moving object 1 as a three-dimensional coordinate position of the overall coordinate system XO—Y0—Z0, and a planned traveling path.
  • 3 Three-dimensional coordinate position data indicating the three-dimensional coordinate position in the overall coordinate system XO—Y0—ZO of each point S 0, S 1, S 2,... Along line 1 is obtained in advance and stored.
  • a distance from a reference position (reference plane) on the moving body 1 to an obstacle on the traveling road surface 31 of the moving body 1 is determined.
  • a three-dimensional distance image generation unit 3 that measures the distance and generates a three-dimensional distance image of the traveling road surface 31 and the obstacle, and converts the distance image into a three-dimensional image 40 in the vehicle body coordinate system XI-Y1-Z1.
  • the planned travel path data, the current three-dimensional coordinate position of the moving body 1 currently detected by the position measurement sensor 7, and the vehicle body rotation angle currently detected by the rotation angle detection sensor 8 are used.
  • the three-dimensional coordinate position data of the traveling path 31 in the vehicle body coordinate system XI—Yl—Z1 is converted into Thrust on the 3D image 40 in the body coordinate system X1-Y1-Z1
  • the detection range identification unit 4 that cuts out a range for detecting an obstacle from the current three-dimensional image 40, and an obstacle exists in the three-dimensional image 40 in the cut-out detection range described above.
  • an obstacle detection unit 5 for detecting the presence of the vehicle.
  • the vehicle body automatic control unit 10 of the drive control unit 9 uses the output of the position measurement sensor 7 and the output of the rotation angle detection sensor 8 as feedback signals as the planned road data stored in the planned road data storage unit 11.
  • the moving body 1 is driven and controlled so as to follow the above target points S0, Sl, S2,.
  • the position information of the obstacle detected by the obstacle detection unit 5 is transmitted, for example, by radio to a monitoring station that monitors the unmanned dump truck as the mobile unit 1, displayed on a CRT display, and displayed on an unmanned dump truck. Used for truck management.
  • the planned road data stored in the planned road data storage unit 11 includes data SO (SX0, SY0, SZO) and S1 (SX1, SY1, S0) indicating the three-dimensional positions of the points S0, Sl, S2,. S Z1), S2 (SX2, SY2, S Z2)... Are acquired in advance.
  • GPS Global Positioning 'Sensor
  • the position measurement signal is wirelessly input via the antenna 6 in FIG.
  • the moving body 1 is caused to travel along the planned traveling path 31, and the position is measured by the position measuring sensor 7, which is a GPS, at regular time intervals (for example, every 1 second). Then, if the position data is measured, the planned traveling route data S 0, S 1, S 2,... Can be easily obtained. That is, the data output from the position measurement sensor 7 indicates the mounting position of the sensor 7. Since the mounting position of the sensor 7 relative to the vehicle center is known, the vehicle center coordinate position can be obtained from the output data of the position measurement sensor 7. Further, based on the assumption that the center of the vehicle body is moving along the center of the planned traveling path 31, the planned traveling path data (the traveling path center position) S0, S1, S2,. be able to.
  • the planned travel route data instead of being obtained by the position measurement by the teaching travel described above, a result measured by surveying or the like is separately input as the planned travel route data via predetermined input means, It may be stored in the storage unit 11.
  • the rotation angle detection sensor 8 includes, for example, a gyroscope that detects the angle of the moving body 1 in the yaw direction of the vehicle body and two inclinometers that detect the pitching angle and the rolling angle of the vehicle body. Based on the results, as shown in Fig. 3, the vehicle body rotation angles (R X0, R Y0) representing the rotation angles of the vehicle body coordinate system XI—Y 1—Z 1 with respect to the global coordinate system X0—YO—Z0 , RZ 0) are output.
  • the origin positions (HX0, HY0, HZO) of the vehicle body coordinate system XI—Yl—Z1 viewed in the global coordinate system X0—Y0—Z0 are acquired as outputs of the position measurement sensor 7.
  • the three-dimensional distance image generation unit 3 includes, for example, a planned road surface 31 as shown in FIG. 7, a branch road 32 from the planned road 31, and an obstacle 33 existing on the planned road surface 31. Then, a distance image 30 including obstacles 34, 35, 36, 37, etc. existing other than the planned traveling road surface 31 is generated.
  • Each pixel 50 of the distance image 30 has a three-dimensional coordinate indicating the two-dimensional coordinate position (i, j) in the i-j two-dimensional coordinate system and the distance d from the reference position (reference plane) of the mobile unit 1.
  • the data (i, j, d) are associated with each other, and the pixel at each position i, j of the distance image 30 has a brightness corresponding to the distance d.
  • the distance image 30 is output from the three-dimensional distance image generation unit 3
  • the distance image 30 is subjected to coordinate transformation to obtain a body coordinate system XI—Y1 as shown in FIG. —A three-dimensional image 40 in Z1 is generated.
  • each pixel 50 of the distance image 30 is associated with the three-dimensional information of (i,;!, D) as described above, each pixel 50 represented by this distance image data (i, d)
  • the pixel 50 is moved together with the moving body 1 as shown in FIG. 8, and the three-dimensional coordinate position data (X, y) on the body coordinate system X 1—Y 1—Z 1 having the origin at a predetermined position of the moving body 1 , Z) can be converted to each pixel 60 associated with.
  • the three-dimensional image 40 can be obtained as a distribution diagram of the three-dimensional coordinate positions of the pixels 60 (step 102).
  • the planned road data SO (SX0, SY0, SZO), Sl (SX1, SY1, SZD, S2 (SX2, SY2, SZ2)) stored in the storage unit 11 are as follows.
  • the planned route data SO (CX0, CY0, CZO), SI (CXI, CY1, CZD, S2 (CX2, CY2, CZ2), etc.) in the reference system XI—Y1-Z1 are converted.
  • the vehicle body rotation angle (RX0, RY0, RZO) and the origin position (HX0, HY0, HZ0) of the vehicle body coordinate system XI—Yl—Z1 viewed from the global coordinate system are used.
  • the coordinate position (XP1, YP1, ZPI) of a point P in the coordinate system can be converted to the coordinate position ( ⁇ 0, ⁇ 0, ⁇ ⁇ 0) in the global coordinate system according to the following equation (1). it can.
  • MR0 is a rotation matrix of the vehicle body coordinate system, and is represented by the following equation (2) using the vehicle body rotation angles (RX0, RY0, RZO).
  • FIG. 5 is a plot of points S0, Sl, S2,... On the traveling path 31 in the Z1 (moving body traveling direction) —Y1 (vertical direction) coordinate system.
  • the gradient ⁇ and the road surface height CY are not unique in each part in the traveling direction.
  • the slope 03 and the road heights CY3 and CY4 of the sections S3 to S4 are different from the slopes and road heights of other sections. Therefore, each part of the traveling road surface having a different slope and road surface height is regarded as a unique gradient and road surface height, and the entire traveling road surface 31 (the entire traveling road existing in the image 40) is regarded as one plane. There is no reasonable way to detect an obstacle based on the height of the plane, and erroneous detection may occur.
  • the traveling road surface 31 in front of the moving object 1 instead, as shown in Fig. 5, the traveling direction (Z1 axis direction) is divided for each point S0, Sl, S2 ..., and images J0, Jl, J2'- 'for each section are cut out, and for each of these sections For each of the images J0, Jl, J2,..., Planes L0, L1, L2,.
  • FIG. 9 shows images J1 and J3 cut out from the entire image 40 in FIG. 8 in a three-dimensional coordinate system XI—Y1—Z1.
  • the result of obtaining the plane corresponding to the traveling path 31 is represented as planes Ll and L3.
  • the three-dimensional distribution image 40 of the pixel 60 shown in FIG. 8 is divided into sections S 0 to S 1, S 1 to S 2, and S 3 to S 4 ′ ′′ (see FIG. 9) in the Z1-axis direction, and Planes L0, L1, L2, etc. are detected for each of the images J0, J1, J2, etc.
  • the section S3 to S4 all the pixels 60 of the image J3 existing in this section are A pixel group located at the lowest point in the vertical direction (Y1 axis direction) is selected from among them, and by approximating these planes, the plane 3 can be detected (step 104).
  • each plane L0, Ll, L2 ' it is detected whether or not there is an object having a height equal to or higher than a predetermined threshold based on the plane. For example, in the case of plane L3, Since there is an object 33 having a predetermined threshold value or more based on the plane L3, this is detected as an obstacle 33 (step 105).
  • the planned traveling path 31 and the branch road 32 are detected as the same plane (unless there is a step between the planned traveling path 31 and the branch road 32), and the planned traveling is performed.
  • An object 35 on a fork 32 that is not on the road 31 may be erroneously detected as an obstacle (see Fig. 9).
  • Figure 6 shows the XI (moving vehicle width direction)-Z1 (moving vehicle traveling direction) coordinate system, right boundary point in the traveling direction SO (+), SI (+), S2 (+), traveling direction Left boundary point SO
  • S1 (-), S2 (-) ... are plotted.
  • the right boundary points SO (+), SI (+), S2 (+) ... in the traveling direction are the center positions SO (CX0, CY0, CZO), S1 (CX1, CY1, CZl), S2 ( CX2, CY2, CZ2)... in the plus direction (right side) of the XI axis with respect to the vehicle width of the mobile unit 1 or offset by half the road width + Wc,
  • the left boundary points SO (—), SI (—), S2 (-)... in the traveling direction are the center positions SO (CX0, CY0, CZO) and S1 (CX1, CY1, CZl) of the planned traveling road 31.
  • Step 106 a process (step 104) of cutting out images J0, Jl, J2...
  • step 106 When the processing of step 106 is performed alone, the following is obtained.
  • the portion K corresponding to the traveling road surface 31 can be obtained by offsetting the traveling road center position S0, Sl, S2,... By the vehicle width or the road width dividing soil Wc.
  • the present invention is not limited to this.
  • mobile unit 1 There is no problem when mobile unit 1 is traveling along the center of the travel path.However, mobile unit 1 may be running off the center of the travel path. In some cases, the vehicle may run off the area K offset by the distance or the road width derivation Wc. Therefore, a deviation between the target points S0, Sl, S2,... And the current traveling position of the moving body 1 is detected, and an offset amount in the road width direction is calculated according to the deviation.
  • the area can be set arbitrarily.
  • the traveling road surface 31 is identified from the image, and image processing is performed to detect an obstacle only in the portion K corresponding to the traveling road surface. Therefore, the image processing time is short and the obstacle 33 is detected in real time.
  • the traveling path 31 is curved or has a branch road 32, the object 35 existing other than the planned traveling path 31 is not erroneously detected as an obstacle, and the Only the obstacle 33 on 31 can be reliably detected.
  • step 104 When the processing of step 104 is performed alone (when there is a step in the width direction of the traveling road surface 31), the following is performed.
  • the three-dimensional coordinate position data S0, Sl, S2, S3,... Of the traveling path 31 in the body coordinate system XI—Yl—Z1, and the body coordinate system XI—Yl—Zl The images J0, Jl, J2, J3,... Of each section of the road surface 31 are cut out of the three-dimensional image 40 by matching with the three-dimensional image 40 (FIG. 8) (image 40 in FIG. 9). '). Then, planes L0, Ll, L2, L3 ... are obtained for the extracted images J0, Jl, J2, J3 ... of each section, and the planes L0, Ll, L2, L3 ... The presence of an obstacle is detected.
  • a specific part J 3 (L3) of the traveling road surface 31 is cut out from the image, and the specific part is set as the plane L3 to detect the obstacle 33 thereon. Even if the road surface 31 is a sloping road or the like, and the slope ⁇ and the road height CY of each part of the traveling road surface are different, a predetermined value based on the plane L0, Ll, L2, L3. Obstacles higher than the height 33 can be reliably detected without erroneous detection.
  • the three-dimensional image 40 is obtained from the distance image 30.
  • the traveling from the image is performed. It is possible to cut out the portion K of the road surface 31 or cut out the planes L0, L1, L2, L3 '-of each part of the running road surface.
  • the portion K of the road surface 31 is cut out directly from the three-dimensional distance image 30 shown in FIG. 7 (this is indicated by diagonal lines), and the planes L0, L1, L2, L3. You can do it.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Measurement Of Optical Distance (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un dispositif capable de détecter de manière fiable uniquement les obstacles se dressant sur la surface de la voie de déplacement prévue d'un objet en mouvement. Ce dispositif calcule les données de position de coordonnées tridimensionnelles de la voie de déplacement sur le système de coordonnées d'un objet en mouvement à partir des données de position de coordonnées tridimensionnelles de la voie de déplacement et des données de position de coordonnées tridimensionnelles actuelles de l'objet en mouvement, lesquelles sont détectées au moyen d'un dispositif détecteur de position; il collationne les données de position de coordonnées tridimensionnelles sur le système de coordonnées de l'objet en mouvement avec l'image tridimensionnelle actuellement générée sur le système de coordonnées de l'objet en mouvement; et il sépare la partie correspondant à la surface de la voie de déplacement de l'image tridimensionnelle actuellement générée. Le dispositif détecte ensuite la présence ou l'absence d'obstacle sur la partie correspondante séparée de la surface de la voie de déplacement.
PCT/JP1997/004042 1996-11-06 1997-11-06 Dispositif permettant de detecter un obstacle sur la surface de la voie de deplacement d'un objet en mouvement WO1998020302A1 (fr)

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Application Number Priority Date Filing Date Title
AU48845/97A AU4884597A (en) 1996-11-06 1997-11-06 Device for detecting obstacle on surface of traveling road of traveling object

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JP8/293994 1996-11-06
JP8293994A JPH10141954A (ja) 1996-11-06 1996-11-06 移動体の走行路面上の障害物検出装置

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CN112857254A (zh) * 2021-02-02 2021-05-28 北京大成国测科技有限公司 基于无人机数据的参数测量方法、装置及电子设备

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JP2002170102A (ja) * 2000-12-04 2002-06-14 Nippon Telegr & Teleph Corp <Ntt> 撮影対象物の自動獲得・復元方法及び装置
JP5895682B2 (ja) * 2012-04-19 2016-03-30 株式会社豊田中央研究所 障害物検出装置及びそれを備えた移動体
JP5947938B1 (ja) 2015-03-06 2016-07-06 ヤマハ発動機株式会社 障害物検出装置およびそれを備えた移動体
CA3025754C (fr) 2016-05-30 2019-07-02 Nissan Motor Co., Ltd. Procede de detection d'objet et dispositif de detection d'objet
CN112859109B (zh) * 2021-02-02 2022-05-24 北京大成国测科技有限公司 无人机全景图像处理方法、装置及电子设备

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CN112857254A (zh) * 2021-02-02 2021-05-28 北京大成国测科技有限公司 基于无人机数据的参数测量方法、装置及电子设备

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