PROBLEM TO BE SOLVED: To provide a position detection apparatus configured to measure a center position of a cylindrical target even if it is unknown whether directions toward both radial ends of the cylindrical target have been acquired or not, and a position detection method.SOLUTION: A position detection apparatus 30 measures a plurality of position points of a surrounding object by acquiring a distance and direction to the surrounding object, and extracts an aggregate of candidate points of an outer periphery of the cylindrical target from among the position points measured. The position detection apparatus 30 calculates a degree of matching between a circle with a circumference and a center position set thereto and a shape formed by the aggregate of the candidate points, to determine whether to specify the center position of the circle as a center position of the cylindrical target, according to the degree of matching.
【課題】円筒状物標の両径方向端までの方向が取得されているか不明であっても円筒状物標の中心位置を測定できる位置検出装置及び位置検出方法を提供する。【解決手段】位置検出装置30は、周囲の物体までの距離及び方向を取得することにより周囲の物体の複数の位置点を測定し、位置が測定された複数の位置点の中から円筒状物標の外周の候補点の集合を抽出する。位置検出装置30は、円周及び中心位置が設定された円形と候補点の集合により形成される形状との間の合致度を算出し、合致度に応じて円形の中心位置を円筒状物標の中心位置として特定するか否かを判断する。【選択図】図3
POSITION DETECTION APPARATUS AND POSITION DETECTION METHOD
位置検出装置及び位置検出方法
2015-11-19
Patent
Electronic Resource
Japanese
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