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External recognition apparatus and excavation machine using external recognition apparatus
US9832386B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9832386-B2 |
| Application number | US-201514738167-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jun 12, 2015 |
| Priority date | Sep 26, 2014 |
| Publication date | Nov 28, 2017 |
| Grant date | Nov 28, 2017 |
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- Title
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Abstract
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An external recognition apparatus and an excavation machine using the external recognition apparatus, the external recognition apparatus including: a three-dimensional distance measurement device configured to acquire distance information in a three-dimensional space in a predetermined, region which is under a hydraulic shovel and which includes a region to be excavated by the hydraulic shovel; a plane surface estimation unit configured to estimate a plane surface in the predetermined region based on the distance information; and an excavation object region recognition unit configured to recognize the region to be excavated in the predetermined region based on the plane surface and the distance information.
First claim
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What is claimed is: 1. An external recognition apparatus comprising: a three-dimensional distance measurement device configured to acquire distance information in a three-dimensional space in a predetermined region which is under a hydraulic shovel and which includes a region to be excavated by the hydraulic shovel; a plane surface estimation unit configured to estimate a plane surface in the predetermined region based on the distance information; and an excavation object region recognition unit configured to recognize the region to be excavated in the predetermined region based on the plane surface and the distance information, wherein the plane surface estimation unit estimates the plane surface in the predetermined region by straight line estimation according to a RANSAC method. 2. The external recognition apparatus according to claim 1 , further comprising a recognition result display unit configured to separately display the region to be excavated recognized by the excavation object region recognition unit and a non-excavation object in the predetermined region. 3. An excavation machine comprising the external recognition apparatus according to claim 1 .
Assignees
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Classifications
Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters · CPC title
- H04N13/239Primary
using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) · CPC title
Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation · CPC title
Extraction of image or video features · CPC title
Electricity · mapped topic
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- What does patent US9832386B2 cover?
- An external recognition apparatus and an excavation machine using the external recognition apparatus, the external recognition apparatus including: a three-dimensional distance measurement device configured to acquire distance information in a three-dimensional space in a predetermined, region which is under a hydraulic shovel and which includes a region to be excavated by the hydraulic shovel;…
- Who is the assignee on this patent?
- Hitachi Ltd
- What technology area does this patent fall under?
- Primary CPC classification H04N13/239. Mapped technology areas include Electricity.
- When was this patent published?
- Publication date Tue Nov 28 2017 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).