PROBLEM TO BE SOLVED: To provide a technique capable of highly accurately detecting a position of a corner of a preceding vehicle or the like when detecting the position using a stereo camera.SOLUTION: A detection device comprises: an acquisition unit for acquiring a bird's-eye view map which shows distribution of parallax of an object when seen from right above an area in real space; a determination unit for, in the distribution corresponding to a predetermined object, determining a first position and a second position with large parallax frequency, for a position with a maximum view angle and a position with a minimum view angle, respectively within a predetermined range; and a detection unit for detecting a position of a corner of the predetermined corner on a circumference with the first position and the second position as end points of the diameter.SELECTED DRAWING: Figure 12
【課題】ステレオカメラを用いて、先行車両等のコーナーの位置を検出する場合に、当該位置を高精度に検出できる技術を提供すること。【解決手段】検出装置において、実空間上の領域で真上から見た場合の、物体の視差の頻度の分布を表す俯瞰マップを取得する取得部と、所定の物体に対応する前記分布において、視野角が最小、及び最大となる位置から所定範囲内で、視差の頻度が大きい第1の位置、及び第2の位置をそれぞれ決定する決定部と、前記分布に基づいて、前記第1の位置及び前記第2の位置を直径の端点とする円周上から、前記所定の物体のコーナーの位置を検出する検出部と、を備えることで上記課題を解決する。【選択図】図12
DETECTION DEVICE, DETECTION METHOD, IMAGING DEVICE, APPARATUS CONTROL SYSTEM, AND PROGRAM
検出装置、検出方法、撮像装置、機器制御システム、及びプログラム
2017-03-02
Patent
Elektronische Ressource
Japanisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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