MEASUREMENT DEVICE FOR THREE-DIMENSIONAL SURFACE SHAPE OF GROUND SURFACE, RUNNABLE REGION DETECTION DEVICE AND CONSTRUCTION MACHINE MOUNTED WITH THE SAME, AND RUNNABLE REGION DETECTION METHOD

摘要

PROBLEM TO BE SOLVED: To allow even a vehicle used in an off-load environment to easily determine a runnable region.SOLUTION: A runnable region detection device 100 includes a stereo camera mounted on a vehicle and having two imaging sections 101, 102 disposed apart to the right and left, and a measurement calculation device 140 for processing the right and left images taken by the imaging sections. The measurement calculation device: shows a ground surface by triangle meshes composed of a plurality of triangle patches expressed in a predetermined terrestrial coordinate system; projects each triangle patch to a reference image of the ground surface taken by one imaging section, and to the other image of the ground surface taken by the other imaging section; and specifies the three-dimensional surface of the ground surface by using the vertical direction of the vertex of the triangle patch as movement parameters in such a way that a difference of a pixel value of the same triangle patch projected into the reference image and the other image may be minimized. A runnable region is detected from the specified three-dimensional surface.