Three-dimensional information calculation device, three-dimensional information calculation method, and autonomous mobile device
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United States of America Patent
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Mar 12, 2019
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Jan 18, 2018
app pub date -
Jan 16, 2015
filing date -
Jan 16, 2015
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Abstract
A three-dimensional information calculation device includes a first image input unit which continuously acquires a plurality of images from a first imaging unit, a second image input unit which continuously acquires a plurality of images from a second imaging unit, an object candidate region extraction unit which extracts an object candidate region where an object exists by using two or more images acquired by the first image input unit at different times, a region future estimation unit which estimates a future position of the object candidate region relative to an image capture range of the first imaging unit based on a position of the extracted object candidate region on a plurality of images, and a three-dimensional information calculation unit which calculates three-dimensional information of the object candidate region, in which three-dimensional information is deemed required based on the future position estimated by the region future estimation unit, based on corresponding points of the object candidate region in an image included in the images acquired by the first image input unit and an image included in the images acquired by the second image input unit.
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