Image analysis – Applications – Robotics
Reexamination Certificate
2008-06-10
2008-06-10
Mehta, Bravesh M. (Department: 2624)
Image analysis
Applications
Robotics
C382S104000, C382S106000, C382S154000, C348S042000, C348S118000, C348S135000, C700S245000, C701S028000, C701S300000
Reexamination Certificate
active
07386163
ABSTRACT:
An obstacle recognition apparatus is provided which can recognize an obstacle by accurately extracting a floor surface. It includes a distance image generator (222) to produce a distance image using a disparity image and homogeneous transform matrix, a plane detector (223) to detect plane parameters on the basis of the distance image from the distance image generator (222), a coordinate transformer (224) to transform the homogeneous transform matrix into a coordinate of a ground-contact plane of a robot apparatus (1), and a floor surface detector (225) to detect a floor surface using the plane parameters from the plane detector (223) and result of coordinate transformation from the coordinate transformer (224) and supply the plane parameters to an obstacle recognition block (226). The obstacle recognition block (226) selects one of points on the floor surface using the plane parameters of the floor surface detected by the floor surface detector (225) and recognizes an obstacle on the basis of the selected point.
REFERENCES:
patent: 4412121 (1983-10-01), Kremers et al.
patent: 4647965 (1987-03-01), Imsand
patent: 4965499 (1990-10-01), Taft et al.
patent: 5200818 (1993-04-01), Neta et al.
patent: 5416713 (1995-05-01), Kameda et al.
patent: 5444478 (1995-08-01), Lelong et al.
patent: 5592215 (1997-01-01), Kuga
patent: 5633995 (1997-05-01), McClain
patent: 5959663 (1999-09-01), Oba et al.
patent: 6272237 (2001-08-01), Hashima
patent: 6377013 (2002-04-01), Suzuki
patent: 6400313 (2002-06-01), Morici et al.
patent: 6456731 (2002-09-01), Chiba et al.
patent: 6542249 (2003-04-01), Kofman et al.
patent: 6788809 (2004-09-01), Grzeszczuk et al.
patent: 6826293 (2004-11-01), Matsunaga
patent: 6919909 (2005-07-01), Spletzer et al.
patent: 6945341 (2005-09-01), Ogawa et al.
patent: 2001/0021882 (2001-09-01), Hosonuma et al.
patent: 2005/0131581 (2005-06-01), Sabe et al.
patent: 10 96607 (1998-04-01), None
patent: 2002 65721 (2002-03-01), None
Murray, Don and Jim Little. “Using Real-Time Stereo Vision for Mobile Robot Navigation”. Kluwer Academic Publishers. Hingham, MA. Autonomous Robots (Apr. 2000). vol. 8. Issue 2. pp. 161-171.
Demirdjian, D. and T. Darrell. “Motion Estimation from Disparity Images”. In Proc. International Conference on Computer Vision (Jul. 2001). vol. 1. pp. 213-218.
Desrochers, A. and A. Riviere. “A Matrix Approach to the Representation of Tolerance Zones and Clearances”. The International Journal of Advanced Manufacturing Technology (1997) 13:630-636.
Yanagida, Yasuyuki and Susumu Tachi. “Coherency of Kinesthetic and Visual Sensation in Virtual Reality Systems”. Proceedings of the 1994 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MF1'94), Las Vegas, NV, Oct. 2-5, 1994. pp. 455-462.
Shimada, Daisuke, Hideki Tanahashi, Kunihito Kato, and Kazuhiko Yamamoto. Third International Conference on 3-D Digital Imaging and Modeling, 2001. pp. 42-47.
Fukuchi Masaki
Gutmann Steffen
Kawamoto Kenta
Ohashi Takeshi
Okubo Atsushi
Frommer William S.
Frommer & Lawrence & Haug LLP
Mehta Bravesh M.
Presson Thomas F.
Seth Manav
LandOfFree
Obstacle recognition apparatus and method, obstacle... does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Obstacle recognition apparatus and method, obstacle..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Obstacle recognition apparatus and method, obstacle... will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2805037