PROBLEM TO BE SOLVED: To provide a road surface estimation device capable of improving detection accuracy.SOLUTION: A road surface estimation device 100 includes: a space measurement part 120 that measures plural three-dimensional measurement points on a road surface based on an image input from a stereoscopic camera or an imaging unit 110 which is a camera capable of three-dimensional measurement; a filtering part 140 that acquires candidate points of the road surface by filtering plural three-dimensional measurement points based on a road surface model which is created based on a piece of map information; and a road surface estimation part 150 that estimates the road surface based on the road surface candidate points.SELECTED DRAWING: Figure 1
【課題】改善された検出精度を有する路面推定装置を提供する。【解決手段】路面推定装置100は、ステレオカメラまたは3次元計測が可能なカメラである撮像部110から入力された画像に基づいて路面の複数の3次元計測点を計測する空間計測部120と、地図の情報に基づいて作成された路面モデルに基づいて複数の3次元計測点にフィルタをかけて路面候補点を取得するフィルタ部140と、路面候補点に基づいて路面を推定する路面推定部150と、を備える。【選択図】図1
ROAD SURFACE ESTIMATION DEVICE, VEHICLE CONTROLLER, ROAD SURFACE ESTIMATION METHOD, AND PROGRAM
路面推定装置、車両制御装置、路面推定方法、およびプログラム
2018-02-15
Patent
Elektronische Ressource
Japanisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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