PROBLEM TO BE SOLVED: To detect object on a travelling route of a vehicle with high accuracy.SOLUTION: An object detection method detecting objects located on a travelling route of a vehicle having an on-vehicle camera mounted from an image shot by the vehicle includes: an on-vehicle image acquisition step of acquiring an on-vehicle image shot by the on-vehicle camera of the vehicle; a behavior information acquisition step of acquiring behavior information on the vehicle subsequent to imaging of the on-vehicle image; a trajectory calculation step of obtaining a movement trajectory of the vehicle on the basis of the behavior information; an area calculation step of obtaining an area corresponding to the movement trajectory in the on-vehicle image on the basis of the movement trajectory; an object detection step of detecting an object targeted for detection from the on-vehicle image; and a calculation step of, as to the detected object, calculating an amount of overlapping between the detected object and the area corresponding to the movement trajectory in the on-vehicle image. It is preferable to further include a judgement step of judging that the object with the amount of overlapping equal to or more than a prescribed ratio is the object located on the travelling route of the vehicle.SELECTED DRAWING: Figure 2
【課題】車両の走行経路上の物体を精度良く検出する。【解決手段】車載カメラを搭載した車両が撮影する画像から前記車両の走行経路上に位置する物体を検出する物体検出方法であって、前記車両の車載カメラが撮影した車載画像を取得する車載画像取得ステップと、前記車載画像の撮影以降の前記車両の挙動情報を取得する挙動情報取得ステップと、前記挙動情報に基づいて、前記車両の移動軌跡を求める軌跡算出ステップと、前記軌跡に基づいて、前記車載画像において前記移動軌跡に対応する領域を求める領域算出ステップと、前記車載画像から検出対象の物体を検出する物体検出ステップと、検出された物体について、前記車載画像における前記移動軌跡に対応する領域との重複量を算出する算出ステップと、を含む。また、当該重複量が所定割合以上である物体を、前記車両の走行経路上に位置する物体であると判定する判定ステップを含むことも好ましい。【選択図】図2
OBJECT DETECTION METHOD, OBJECT DETECTION DEVICE AND PROGRAM
物体検出方法、物体検出装置、およびプログラム
2017-08-10
Patent
Elektronische Ressource
Japanisch
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