RECESSED PART DETECTION DEVICE, CARRIER DEVICE, AND RECESSED PART DETECTION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a recessed part detection device capable of accurately detecting a recessed part even in a distant portion of a surface intersecting a visual field surface of a three-dimensional sensor.SOLUTION: A recessed part detection device 100 detects a recessed part 302 on the basis of distance image information of a detection object 300 having a flat plane portion 301 intersecting a visual field plane 199 of a three-dimensional sensor 110. The recessed part detection device includes: a reference value determination part 101 which extracts, from distance image information, a plurality of pieces of reference information corresponding to a plurality of reference areas 131 set at different positions within a detection range 103 in which a distance from the three-dimensional sensor 110 is within a prescribed range, respectively, and determines a reference value on the basis of the plurality of pieces of reference information; and an existence presentation part 102 which extracts, from the distance image information, a plurality of pieces of comparison information corresponding to a plurality of comparison areas 141 present within the same detection range 103 respectively, derives the comparison values respectively on the basis of the respective pieces of comparison information, and presents existence of the recessed part 302 when there is the comparison value in which a difference between the reference value and the comparison value exceeds a prescribed threshold value.SELECTED DRAWING: Figure 4