PROBLEM TO BE SOLVED: To improve accuracy for detecting a road surface.SOLUTION: An image processing device comprises: a generation part for generating vertical direction distribution data which indicates distribution of a frequency of a distance value with respect to a vertical direction of a distance image, from the distance image having a distance value according to a distance of a road surface in plural photographic images respectively photographed by plural imaging parts; an extraction part for extracting a pixel having the highest frequency value, in pixels included in a search range having a width according to plural distance values including each distance value, and a height according to a prescribed range in the vertical direction, to each distance value, in the vertical direction distribution data; and a detection part for detecting the road surface based on the extracted pixels.SELECTED DRAWING: Figure 3

    【課題】路面を検出する精度を向上させること。【解決手段】画像処理装置において、複数の撮像部で各々撮影された複数の撮影画像における路面の距離に応じた距離値を有する距離画像から、前記距離画像の垂直方向に対する距離値の頻度の分布を示す垂直方向分布データを生成する生成部と、前記垂直方向分布データにおいて、各距離値に対し、当該各距離値を含む複数の距離値に応じた幅と、前記垂直方向の所定の範囲に応じた高さを有する探索範囲に含まれる画素のうち、前記頻度の値が最も高い画素を各々抽出する抽出部と、前記抽出された各画素に基づいて、前記路面を検出する検出部と、を備える。【選択図】図3


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    Titel :

    IMAGE PROCESSING DEVICE, IMAGING DEVICE, MOVABLE BODY APPARATUS CONTROL SYSTEM, IMAGE PROCESSING METHOD AND PROGRAM


    Weitere Titelangaben:

    画像処理装置、撮像装置、移動体機器制御システム、画像処理方法、及びプログラム


    Beteiligte:

    Erscheinungsdatum :

    2017-09-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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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