External recognition apparatus and excavation machine using external recognition apparatus
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.
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 .