PROBLEM TO BE SOLVED: To provide a surrounding environment recognition device that can detect a certain moving three-dimensional object in an early stage even in a situation where the certain three-dimensional object seemingly overlaps another three-dimensional object.SOLUTION: A surrounding environment recognition device of a moving body comprises: an imaging unit that shoots a plurality of images in a time sequence fashion; a three-dimensional object detection unit that detects a three-dimensional object on the basis of a distance from an own machine; a vector detection unit that tracks a characteristic point inside a prescribed area enclosing the three-dimensional object by the plurality of images to thereby detect a motion vector of the characteristic point; and a moving three-dimensional object detection unit that detects a moving three-dimensional object existing inside the area on the basis of a detection result of the vector detection unit.SELECTED DRAWING: Figure 1
【課題】見かけ上或る移動立体物と他の立体物が重なっている状況においても、当該或る移動立体物の早期検知が可能な周囲環境認識装置を提供すること。【解決手段】移動体の周囲環境認識装置において、時系列的に複数の画像を撮影する撮像部と、自機からの距離を基に立体物を検知する立体物検知部と、前記複数の画像で前記立体物を内包する所定の領域の内部の特徴点を追跡することで当該特徴点の動きベクトルを検知するベクトル検知部と、前記ベクトル検知部の検知結果を基に前記領域の内部に存在する移動立体物を検知する移動立体物検知部と、を備える。【選択図】図1
MOVING BODY SURROUNDING ENVIRONMENT RECOGNITION DEVICE
移動体の周囲環境認識装置
2017-08-17
Patent
Elektronische Ressource
Japanisch
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