To properly identify a road surface.SOLUTION: The extravehicular environment recognition device causes a computer to function as: a road surface identification unit that identifies a road surface in an image; a three-dimensional object identification unit that identifies a three-dimensional object 232 having a height vertically above the identified road surface; a road surface determination unit that, when a plurality of separated three-dimensional objects are in a same relative distance, determines whether an intra-three-dimensional-object area between the objects corresponds to the road surface; and a three-dimensional object synthesis unit that, when it is not determined that the intra-three-dimensional-object area corresponds to the road surface, sets the plurality of separated three-dimensional objects as a candidate for an integral three-dimensional object.SELECTED DRAWING: Figure 11
【課題】路面を適切に特定する。【解決手段】車外環境認識装置は、コンピュータが、画像中の路面を特定する路面特定部と、特定された路面の鉛直上方に高さを有する立体物232を特定する立体物特定部と、複数の離隔した立体物が同相対距離にあれば、その間の領域である立体物間領域が路面に相当するか否か判定する路面判定部と、立体物間領域が路面に相当すると判定されなければ、複数の離隔した立体物を一体的な立体物の候補とする立体物合成部、として機能している。【選択図】図11
EXTRAVEHICULAR ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2019-07-11
Patent
Elektronische Ressource
Japanisch
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