WO2008099629A1 - 環境認識装置 - Google Patents

環境認識装置 Download PDF

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Publication number
WO2008099629A1
WO2008099629A1 PCT/JP2008/050334 JP2008050334W WO2008099629A1 WO 2008099629 A1 WO2008099629 A1 WO 2008099629A1 JP 2008050334 W JP2008050334 W JP 2008050334W WO 2008099629 A1 WO2008099629 A1 WO 2008099629A1
Authority
WO
WIPO (PCT)
Prior art keywords
measured
light pattern
pulse
recognizing device
environment
Prior art date
Application number
PCT/JP2008/050334
Other languages
English (en)
French (fr)
Inventor
Chiaki Aoyama
Original Assignee
Honda Motor Co., 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 Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Priority to EP08703198A priority Critical patent/EP2112466B1/en
Priority to US12/526,804 priority patent/US8233079B2/en
Publication of WO2008099629A1 publication Critical patent/WO2008099629A1/ja

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

　環境空間（１２）に存在する被測定物（１２ａ）に向けて１フレームを規定するパルス列のデューティファクタに従って間欠的に光パターン（１６ａ）を照射する照射器（１６）、光パターンが照射されたときの露光で被測定物を撮影して得た画像と照射されないときの露光で撮影して得た画像の差分画像を出力するカメラ（２０）、差分画像に基づいて被測定物を認識する認識手段（２２）を備えた環境認識装置（１０）において、１フレーム内においてパルス列のパルス繰り返し周期をランダムに変化させて光パターンを照射するタイミングを制御するタイミング制御器（２４）を備える如く構成した。これにより、他の装置とパルスの位相が一致することがなく、それとの干渉を効果的に回避できる。ランダムに変化させる対象をパルス繰り返し周期としたので、パルス幅が短くなって照射時間も短くなるような事態を防止でき、よってカメラに高い感度が要求されることがない。
PCT/JP2008/050334 2007-02-15 2008-01-15 環境認識装置 WO2008099629A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP08703198A EP2112466B1 (en) 2007-02-15 2008-01-15 Environment recognizing device
US12/526,804 US8233079B2 (en) 2007-02-15 2008-01-15 Environment recognition method and apparatus for a three-dimensional vision sensor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007034773A JP4944635B2 (ja) 2007-02-15 2007-02-15 環境認識装置
JP2007-034773 2007-02-15

Publications (1)

Publication Number Publication Date
WO2008099629A1 true WO2008099629A1 (ja) 2008-08-21

Family

ID=39689875

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/050334 WO2008099629A1 (ja) 2007-02-15 2008-01-15 環境認識装置

Country Status (4)

Country Link
US (1) US8233079B2 (ja)
EP (1) EP2112466B1 (ja)
JP (1) JP4944635B2 (ja)
WO (1) WO2008099629A1 (ja)

Cited By (2)

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JP2016014665A (ja) * 2014-07-03 2016-01-28 アドヴァンスド サイエンティフィック コンセプツ，イン 密集環境のｌａｄａｒセンサ
US11099008B2 (en) 2014-12-15 2021-08-24 Sony Corporation Capture device assembly, three-dimensional shape measurement device, and motion detection device

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JP5427173B2 (ja) * 2008-06-05 2014-02-26 本田技研工業株式会社 光受信機
JP5295254B2 (ja) * 2008-09-09 2013-09-18 三菱電機株式会社 車両周囲監視装置
JP2011033497A (ja) * 2009-08-03 2011-02-17 Honda Motor Co Ltd 環境認識システム、環境認識方法およびロボット
JP2011080965A (ja) * 2009-10-09 2011-04-21 Panasonic Electric Works Co Ltd ３次元形状計測装置
GB2473338A (en) * 2010-09-02 2011-03-09 Julian Stevens Terrain visualization device with light emitter projecting contrast pattern
RU2506538C1 (ru) * 2012-07-04 2014-02-10 Общество с ограниченной ответственностью "Си Тех" Лазерное устройство для проведения измерений с повышенной точностью
EP2730942B1 (de) * 2012-11-13 2015-03-18 Sick Ag Optoelektronischer Scanner
US9442186B2 (en) 2013-05-13 2016-09-13 Microsoft Technology Licensing, Llc Interference reduction for TOF systems
US9350921B2 (en) * 2013-06-06 2016-05-24 Mitutoyo Corporation Structured illumination projection with enhanced exposure control
JP6335011B2 (ja) * 2014-04-25 2018-05-30 キヤノン株式会社 計測装置およびその方法
JP6741680B2 (ja) * 2015-10-09 2020-08-19 パナソニックセミコンダクターソリューションズ株式会社 撮像装置、およびそれに用いられる固体撮像素子
US10462452B2 (en) 2016-03-16 2019-10-29 Microsoft Technology Licensing, Llc Synchronizing active illumination cameras
TWI639021B (zh) 2016-05-17 2018-10-21 南韓商Ｌｇ電子股份有限公司 行動機器人及其控制方法
CN207979622U (zh) 2016-05-17 2018-10-19 Lg电子株式会社 机器人吸尘器
TWI653964B (zh) * 2016-05-17 2019-03-21 Ｌｇ電子股份有限公司 行動機器人及其控制方法
US10277842B1 (en) 2016-11-29 2019-04-30 X Development Llc Dynamic range for depth sensing
US10720069B2 (en) * 2017-04-17 2020-07-21 Rosemount Aerospace Inc. Method and system for aircraft taxi strike alerting
CN108132666B (zh) * 2017-12-15 2019-04-05 珊口（上海）智能科技有限公司 控制方法、系统及所适用的移动机器人
US20190187721A1 (en) * 2017-12-15 2019-06-20 Ankobot (Shanghai) Smart Technologies Co., Ltd. Control method and system, and mobile robot using the same
CN111751838A (zh) * 2019-03-28 2020-10-09 上海小瞳智能科技有限公司 一种微型固态激光雷达及其数据处理方法
US11571100B2 (en) * 2019-06-28 2023-02-07 Lg Electronics Inc Intelligent robot cleaner
CN112084973B (zh) * 2020-09-14 2023-04-25 北京工商大学 一种基于正射投影图像的隧道管环识别与标注方法
KR102218120B1 (ko) * 2020-09-21 2021-02-22 주식회사 폴라리스쓰리디 자율 주행 모듈, 이를 포함하는 이동 로봇 및 이의 위치 추정 방법

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JPS61149879A (ja) * 1984-12-24 1986-07-08 Meisei Electric Co Ltd 受信パルス誤検出防止装置
JPH10268067A (ja) * 1997-03-25 1998-10-09 Koito Ind Ltd 積雪深計測装置
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JP2006118924A (ja) * 2004-10-20 2006-05-11 Tdk Corp パルスレーダー装置

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Publication number Priority date Publication date Assignee Title
JPS61149879A (ja) * 1984-12-24 1986-07-08 Meisei Electric Co Ltd 受信パルス誤検出防止装置
JPH10268067A (ja) * 1997-03-25 1998-10-09 Koito Ind Ltd 積雪深計測装置
JP2001337166A (ja) 2000-05-26 2001-12-07 Minolta Co Ltd ３次元入力方法および３次元入力装置
JP2002156226A (ja) 2000-11-20 2002-05-31 Honda Motor Co Ltd 距離測定装置
JP2005121398A (ja) * 2003-10-15 2005-05-12 Olympus Corp 光検出装置及びそれを用いた測距装置
JP2006082201A (ja) 2004-09-17 2006-03-30 Honda Motor Co Ltd 脚式移動ロボットの力センサ異常検知装置
JP2006118924A (ja) * 2004-10-20 2006-05-11 Tdk Corp パルスレーダー装置

Non-Patent Citations (1)

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Title
See also references of EP2112466A4

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016014665A (ja) * 2014-07-03 2016-01-28 アドヴァンスド サイエンティフィック コンセプツ，イン 密集環境のｌａｄａｒセンサ
US11099008B2 (en) 2014-12-15 2021-08-24 Sony Corporation Capture device assembly, three-dimensional shape measurement device, and motion detection device

Also Published As

Publication number Publication date
JP2008197048A (ja) 2008-08-28
EP2112466B1 (en) 2012-06-20
US8233079B2 (en) 2012-07-31
EP2112466A4 (en) 2010-03-24
JP4944635B2 (ja) 2012-06-06
US20100110280A1 (en) 2010-05-06
EP2112466A1 (en) 2009-10-28

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