METHOD FOR OBTAINING THREE-DIMENSIONAL PICTURE FROM VISUAL INFORMATION IN AUTONOMOUS MOVING ROBOT

摘要

PURPOSE:To obtain a three-dimensional picture by performing such correction that robot's eyes are directed toward the same direction even if the robot is moved and detecting corresponding points of the picture after correction to obtain the length to an object in the picture. CONSTITUTION:If the robot is moved from a position 1 to a position 2, an extent (d) of parallel movement of the robot is obtained by a formula d=(x2+ y2+z2)1/2 when an extent of movement in the vertical direction, an extent of movement in the horizontal forward direction, and an extent of movement in the right direction are denoted as (x), (z), and (y) respectively. On the supposition that robot's eyes are fixed to the infinite point ahead in the advance direction, positions of infinite points in positions 1 and 2 coincide with each other if the picture in the position 1 is rotated in the lingitudinal direction at an angle thetax1 and in the lateral direction at an angle thetay1 and the picture in the position 2 is rotated in the lingitudinal direction at an angle 9x2 and in the lateral direction at an angle thetay2. Corresponding points are obtained between these rotated pictures, and a three-dimensional picture is obtained in accordance with positional relations of corresponding points on pictures and the extent (d).