Foreign matter detection device, foreign matter detection method, and program
AssigneeNEC Corporation
InventorZhenwei Wang
Life of this patent
Estimating the term…
Abstract
A measurement information acquisition unit acquires depth information indicating a depth in a detection range measured by a depth measurement device that measures the depth. An image acquisition unit acquires an image of the detection range captured by an imaging device that captures the image. A depth extraction unit extracts partial depth information in which a portion not being subject to a determination of being foreign matter or not is removed from the depth information, based on the acquired image. A foreign matter determination unit determines presence or absence of foreign matter in the detection range based on the partial depth information.
Claims6
A foreign matter detection device comprising:
- at least one memory configured to store instructions;
- and
- at least one processor configured to execute the instructions to:
- acquire depth information indicating a depth in a detection range measured by a depth measurement device that measures the depth;
- acquire an image of the detection range captured by an imaging device that captures the image;
- extract partial depth information in which a portion not being subject to a determination of being foreign matter or not is removed from the depth information, based on the acquired image;
- and
- determine presence or absence of foreign matter in the detection range based on the partial depth information.
A foreign matter detection method comprising:
- acquiring, by a computer, depth information indicating a depth in a detection range measured by a depth measurement device that measures the depth;
- acquiring, by the computer, an image of the detection range captured by an imaging device that captures the image;
- extracting, by the computer, partial depth information in which a portion not being subject to a determination of being foreign matter or not is removed from the depth information, based on the acquired image;
- and
- determining, by the computer, presence or absence of foreign matter in the detection range based on the partial depth information.
A non-transitory computer readable recording medium that stores a program for causing a computer to execute:
- acquiring depth information indicating a depth in a detection range measured by a depth measurement device that measures the depth;
- acquiring an image of the detection range captured by an imaging device that captures the image;
- extracting partial depth information in which a portion not being subject to a determination of being foreign matter or not is removed from the depth information, based on the acquired image;
- and
- determining presence or absence of foreign matter in the detection range based on the partial depth information.
Dependencies are inferred from the claim text.