RECTANGULAR REGION DETECTION SYSTEM, RECTANGULAR REGION DETECTION DEVICE AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To efficiently reduce computational complexity when detecting a rectangular region in an environment.;SOLUTION: A rectangular region detection method detects a rectangular region which is disposed on a prescribed plane in an environment and is vertical to the prescribed plane. The rectangular region detection method includes: a step of acquiring a three-dimensional point group in the environment; a step of calculating normals at respective points of the acquired three-dimensional point group, to planes specified by the respective points; a step of removing normals other than normals vertical to a normal to the prescribed plane among the calculated normals; and a step of detecting a rectangular region on the basis of respective removed normals.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2018,JPO&INPIT