PROBLEM TO BE SOLVED: To provide an obstacle detecting apparatus and an obstacle detecting method for detecting an obstacle from feature points in a vehicle front image.SOLUTION: An obstacle detecting apparatus includes: a stereo camera 100 which photographs a front of a vehicle to generate a left image and a right image; an image matching unit 200 which applies a block matching algorithm to the left image and the right image to extract a plurality of feature points having a similarity which is equal to or larger than a reference value and calculate a coordinate and a depth of each of the plurality of extracted feature points; a plane calculating unit 300 which connects every three feature points of the plurality of feature points to calculate a plurality of triangles, on the basis of the coordinate and the depth of each of the plurality of feature points; a normal calculating unit 400 which calculates directions of normals of the plurality of triangles, on the basis of the coordinate and the depth of each of three feature points corresponding to vertexes of the plurality of triangles; and an obstacle detecting unit 500 which detects an obstacle present in front of the vehicle on the basis of a result of comparing a photographing direction of the stereo camera with the normal directions of each of the plurality of triangles.SELECTED DRAWING: Figure 1
【課題】車両前方の画像の特徴点から障害物を検出する障害物検出装置および障害物検出方法を提供する。【解決手段】車両の前方を撮影して左側画像および右側画像を生成するステレオカメラ100、左側画像および右側画像にブロックマッチングアルゴリズムを適用して基準値以上の類似度を有する複数の特徴点を抽出し、抽出された複数の特徴点の各々の座標および深さを算出する画像マッチング部200、複数の特徴点の各々の座標および深さに基づいて、複数の特徴点を3個ずつ連結して複数の三角形を算出する面算出部300、複数の三角形の各々の頂点に対応する3個の特徴点の各々の座標および深さに基づいて、複数の三角形の各々の法線の方向を算出する法線算出部400およびステレオカメラの撮影方向を複数の三角形の各々の法線方向と比較した結果に基づいて、車両の前方に存在する障害物を検出する障害物検出部500を含む。【選択図】図1
OBSTACLE DETECTING APPARATUS AND OBSTACLE DETECTING METHOD
障害物検出装置および障害物検出方法
2016-06-30
Patent
Elektronische Ressource
Japanisch
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