PROBLEM TO BE SOLVED: To provide a solid object detection device capable of detecting even a solid object low in height as a solid object with high accuracy, while maintaining a state in which the solid object and a road surface can be satisfactorily distinguished.SOLUTION: A solid object detection device increases a weight to voting by determining that the continuity of an approximate straight line on the predetermined two-dimensional plane is high and that the closer the inclination is to vertical the more likely the inclination appears to be a solid object, and a parallax calculation point is voted, by reflecting the weight, to each block of a plurality of parallax voting maps disposed with a plurality of predetermined blocks set so as to be long in side according as the parallax value increases, and in a parallax voting map, the number of votes of the parallax calculation point gives an attribute of the solid body exceeding a predetermined threshold value, and a position in a three-dimensional space of the solid body is obtained from information of the block given with the attribute of the solid body, thereby detecting the solid body.SELECTED DRAWING: Figure 1

    【課題】立体物と路面とを良好に区別可能な状態を維持しつつ、高さの低い立体物についても立体物として高精度に検出可能な立体物検出装置を提供することを課題とする。【解決手段】本発明は、所定の2次元平面上における近似直線の連続性が高く、且つ、傾きが垂直に近いほど立体物らしいと判断して投票に対する重みを重くし、視差値が大きくなるに従って辺が長くなるように定められた所定のブロックを複数配列した所定の視差投票マップの各々のブロックに対して、視差算出点を、重みを反映して投票し、視差投票マップにおいて、視差算出点の投票数が所定の閾値以上のブロックに立体物の属性を付与し、立体物の属性が付与されたブロックの情報から立体物の三次元空間中の位置を求めて、立体物を検出する。【選択図】図1


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    Titel :

    SOLID OBJECT DETECTION DEVICE


    Weitere Titelangaben:

    立体物検出装置


    Beteiligte:
    NAGATA AKIHIKO (Autor:in) / ISHIGAMI HIROTAKE (Autor:in) / SHIRAI TAKAMASA (Autor:in)

    Erscheinungsdatum :

    25.04.2016


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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