Autonomous vehicle and planar obstacle recognition method
US7742841B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 23, 2006 |
| Grant date | Jun 22, 2010 |
| Priority date | — |
| Expiry date | Mar 20, 2027 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T7/73
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
In an autonomous vehicle, position of a planar obstacle such as a wall or a fence having apertures is determined. A horizontal plane is scanned with a laser range tinder so as to acquire positional coordinates of a plurality of scanning points. An element vector is formed with each two scanning points so that one acquired former is used as a start point and the other acquired later as an end point of the vector. A plurality of continuous element vectors which satisfy predetermined conditions is selected among the element vectors, and a scanning segment vector is formed by composition of the selected element vectors. When a length of the scanning segment vector is equal to or longer than a predetermined length, it is possible to recognize that a planar obstacle exists along the scanning segment vector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.