Obstacle detecting apparatus and method, and storage medium which stores program for implementing the method
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United States of America Patent
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Oct 22, 2002
Grant Date -
Aug 30, 2001
app pub date -
Dec 21, 2000
filing date -
Feb 28, 2000
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Abstract
An obstacle detecting apparatus is disclosed, with which obstacles can be reliably detected so that a self-controlled robot or vehicle can drive safely. The apparatus comprises a first section having a distance sensor, for measuring the distance of each measurement point of objects existing in a visual field of the distance sensor and obtaining a three-dimensional coordinate value for each measurement point, so as to generate a distance image; a second section for projecting each measurement point of the objects onto at least one of predetermined horizontal and vertical planes, where each plane is divided into grid cells, and the resolution of the divided grid cells is lower than the measurement resolution of the distance sensor; and calculating the number of the measurement points projected onto each grid cell in the relevant plane, and generating a three-dimensional histogram indicating the distribution of the measurement points in the grid cells, a third section for converting the histogram to binary data by comparing the histogram with a predetermined threshold value; and a fourth section for extracting one or more obstacles by performing a clustering operation on the binary data, and generating an obstacle map by which the positional relationship between the distance sensor and each obstacle is determined.
First Claim
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- 15 United States
- 10 France
- 8 Japan
- 7 China
- 5 Korea
- 2 Other
Patent Owner(s)
- HONDA GIKEN KOGYO KABUSHIKI KAISHA
International Classification(s)
Inventor(s)
Inventor Name | Address | # of filed Patents | Total Citations |
---|---|---|---|
Matsunaga, Shinichi | Wako, JP | 23 | 694 |
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Fee | Large entity fee | small entity fee | micro entity fee | due date |
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Fee | Large entity fee | small entity fee | micro entity fee |
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Surcharge after expiration - Late payment is unavoidable | $700.00 | $350.00 | $175.00 |
Surcharge after expiration - Late payment is unintentional | $1,640.00 | $820.00 | $410.00 |
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