Television – Special applications – Navigation
Reexamination Certificate
2007-07-03
2007-07-03
Philippe, Gims (Department: 2621)
Television
Special applications
Navigation
C348S139000, C382S153000
Reexamination Certificate
active
09866151
ABSTRACT:
A position detection apparatus that is able to easily detect self-position during autonomous movement by a humanoid robot that moves by the use of legs or automobile. The position detection apparatus detects the position of a moving object, said position detection apparatus being provided with a brightness image acquisition device that acquires a brightness image of the forward field of view of the moving object, a distance image acquisition device having the same field of view as the brightness image acquisition device that acquires a distance image simultaneous to acquisition of a brightness image by the brightness image acquisition device, a characteristic point extraction device that extracts respective characteristic points from the brightness images of at least two consecutive frames, and a reference characteristic point selection device that calculates the amount of displacement of a position between two frames of a characteristic point extracted by the characteristic point extraction device based on a distance image, and selects a reference characteristic point for calculating self-position according to said amount of displacement.
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Matsunaga Shinichi
Nagai Takaaki
Sakagami Yoshiaki
Blackman William D.
Carrier joseph P.
Carrier Blackman & Associates P.C.
Honda Giken Kogyo Kabushiki Kaisha
Philippe Gims
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