To provide a surrounding monitoring device and a surrounding monitoring method in which the accuracy of parallax correction is high and an erratic operation or non-operative is more suppressed.SOLUTION: A surrounding monitoring device (10) comprises: an image acquisition unit (100) for acquiring a plurality of images in which an object is imaged from different positions; a distance acquisition unit (110) for acquiring the distance to the object detected as a result of transmission/reception of a survey wave to and from the object; a first offset calculation unit (130) for calculating a first parallax offset value on the basis of the plurality of images and the distance to the object; a second offset calculation unit (140) for calculating a second parallax offset value on the basis of a parallax change within a prescribed period at the same point in the images obtained by the image acquisition unit and the distance of movement of a vehicle; and a parallax correction unit (150) for correcting parallax using the first parallax offset value on condition that a difference between the first parallax offset value and the second parallax offset value is equal to or less than a threshold.SELECTED DRAWING: Figure 1

    【課題】視差補正の精度が高く、誤作動または未作動がより抑制された周辺監視装置および周辺監視方法を提供する。【解決手段】周辺監視装置(10)は、対象物を異なる位置から撮影した複数の画像を取得する画像取得部(100)と、前記対象物に対する探査波の送受信の結果により検出された前記対象物までの距離を取得する距離取得部(110)と、前記複数の画像と前記対象物までの距離とに基づいて第1視差オフセット値を算出する第1オフセット算出部(130)と、前記画像取得部で得られた前記画像の同一点における所定期間内の視差の変化と前記車両の移動距離とに基づいて第2視差オフセット値を算出する第2オフセット算出部(140)と、前記第1視差オフセット値と前記第2視差オフセット値との差が閾値以下であることを条件として、前記第1視差オフセット値を用いて視差を補正する視差補正部(150)と、を備える。【選択図】 図1


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    Titel :

    VEHICLE SURROUNDING MONITORING DEVICE AND SURROUNDING MONITORING METHOD


    Weitere Titelangaben:

    車両の周辺監視装置と周辺監視方法


    Beteiligte:
    TERADA TOSHIHIKO (Autor:in) / ITO HIROAKI (Autor:in) / UCHIDA NAOHIDE (Autor:in) / NAGAO KAGEHIRO (Autor:in)

    Erscheinungsdatum :

    2019-04-25


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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