To provide a map change point detection device which can accurately detect the change point even using a camera with the low resolution.SOLUTION: A map change point detection device includes: a camera 110 which images the periphery of a vehicle 1; an overhead view conversion unit which converts the image photographed by the camera 110 into an overhead view image; a map storage unit 150 which stores a highly accurate map 151 including a road surface map; and a collation processing unit 164 which decides whether or not the change point being position where the change occurs on the actual road surface exists with respect to the road surface map by collating the overhead view image with the road surface map. The map change point detection device can have the image in which the road width is the constant width like the actual road regardless of the distance from a vehicle 1 by converting the image photographed by the camera 110 into the overhead view image, remove various objects such as buildings and trees that exist in the place which is not the road surface, and accurately detect the change point by making the white line intensity image generated from the overhead view image the image to be collated with the road surface map being a portion of the highly accurate map 151.SELECTED DRAWING: Figure 1

    【課題】解像度が低いカメラを用いても精度よく変化点を検出することができる地図変化点検出装置を提供する。【解決手段】車両1の周辺を撮像するカメラ110と、カメラ110が撮像した画像を俯瞰画像に変換する俯瞰変換部と、路面地図を含んだ高精度地図151を記憶する地図記憶部150と、俯瞰画像と路面地図とを照合して、路面地図に対して、実際の路面に変化が生じた位置である変化点が存在するか否かを決定する照合処理部164とを備える。カメラ110が撮像した画像を俯瞰画像に変換することで、車両1からの距離によらず、道路幅が、実際の道路と同様に一定幅の画像になる。また、建物、樹木など、路面ではない場所に存在している種々の物体を除去することもできる。俯瞰画像から生成した白線強度画像を高精度地図151の一部である路面地図と照合する画像とするので、精度よく変化点を検出することができる。【選択図】図1


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    Titel :

    MAP CHANGE POINT DETECTION DEVICE


    Weitere Titelangaben:

    地図変化点検出装置


    Beteiligte:
    SUGIE MAIKO (Autor:in) / ITO YASUYUKI (Autor:in) / KITAGAWA HIROYUKI (Autor:in) / NOMURA SATORU (Autor:in) / MURATE TOMOHARU (Autor:in) / HAMADA MIYO (Autor:in)

    Erscheinungsdatum :

    2019-01-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES



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