PROBLEM TO BE SOLVED: To provide a detection method and detection device of a travelable area of a road surface.SOLUTION: In a detection method, a parallax diagram is acquired from a gradation diagram including a road surface, the road surface is detected from the parallax diagram, a part of which the height to the road surface exceeds a predetermined height threshold is deleted from the parallax diagram to generate a sub-parallax diagram, the sub-parallax diagram is converted into a U-parallax diagram, a travelable area is detected from the U-parallax diagram, and the travelable area detected from the U-parallax diagram is converted into a travelable area in the gradation diagram. The detection method and detection device have a wide application range since it does not depend on white lines or guard rails on a road. In addition, the detection method and detection device have excellent robustness to noise and reliability since it detects the travelable area on the road surface by the U-parallax diagram obtained from the parallax diagram.SELECTED DRAWING: Figure 4
【課題】道路路面の可走行領域の検知方法及び装置を提供する。【解決手段】検知方法においては、道路路面を含む階調図から視差図を取得するとともに、該視差図から道路路面を検知し、視差図から道路路面に対する高さが所定の高さ閾値を越えた部分を削除して、サブ視差図を生成し、該サブ視差図をU-視差図に変換し、U-視差図から可走行領域を検知し、U-視差図から検知された可走行領域を階調図中の可走行領域に変換する。検知方法及び検知装置は、道路上の白線或いはガードレールに依存しないことから、幅広い適用範囲を有する。また、視差図から得られたU-視差図により、道路路面の可走行領域を検知するため、優れたノイズへのロバスト性と信頼性を有する。【選択図】図4
DETECTION METHOD AND DETECTION DEVICE OF TRAVELABLE AREA OF ROAD SURFACE
道路路面の可走行領域の検知方法及び検知装置
23.08.2018
Patent
Elektronische Ressource
Japanisch
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