To provide an outside recognition device for a vehicle capable of improving the accuracy of a distance measuring method based on a feature point trace of a camera image.SOLUTION: A feature point is extracted from an image (1011) including an environment around an own vehicle, and the three-dimensional position of the feature point is measured on the basis of the movement of the feature point by time sequence trace on the image (1021). A foot position on the image from the three-dimensional position of the feature point is calculated (1031). Then, a road surface area in which the own vehicle can travel is extracted from the inside of the image using the similarity of the texture of the image (1041). A feature point whose foot position is not included in the road surface area is determined to have a high reliability (1051).SELECTED DRAWING: Figure 1
【課題】カメラ画像の特徴点追跡に基づく距離計測方法の精度を向上させることができる車両用外界認識装置を得ること。【解決手段】自車周囲の環境を含む画像(1011)から特徴点を抽出し、特徴点を時系列追跡した画像上の動きに基づいて特徴点の3次元位置を計測し(1021)、特徴点の3次元位置から画像上の足元位置を算出する(1031)。そして、画像のテクスチャの類似度を用いて自車が走行可能な路面領域を画像内から抽出し(1041)、特徴点の足元位置が路面領域に含まれないと判定された特徴点を信頼度が高いと判定する(1051)。【選択図】図1
OUTSIDE RECOGNITION DEVICE FOR VEHICLE
車両用外界認識装置
2019-04-25
Patent
Elektronische Ressource
Japanisch
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
Europäisches Patentamt | 2020
|OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
Europäisches Patentamt | 2018
|OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION METHOD
Europäisches Patentamt | 2019
|