To optimally estimate a distance to an object.SOLUTION: A distance estimation device (200) comprises: determination means (220) that determines whether one part of an object(500) is in a non-capturing state where the one part thereof is located at a blind angle of imaging means (100); extraction means (230) that, when the one part is not in the non-capturing state, extract an entire image of the object; creation means (240) that creates a plurality of partial images including the one part of the object from the entire image; storage means (250) that stores the plurality of partial images and a ratio value (Z) indicative of a ratio of the object included in the partial image in association with each other; determination means (270) that, when the one part is in the non-capturing state, compares the plurality of partial images with the object in the non-capturing state, and determines a ratio value corresponding to the object in the non-capturing state; and estimation means (280) that estimates a distance from a vehicle (10) to the object in a photographing image on the basis of the ratio value corresponding to the object in the non-capturing state.SELECTED DRAWING: Figure 6
【課題】対象物までの距離を好適に推定する。【解決手段】距離推定装置(200)は、対象物(500)の一部が撮像手段(100)の死角に位置する見切れ状態となっているか否かを判定する判定手段(220)と、見切れ状態となっていない場合に、対象物の全体画像を抽出する抽出手段(230)と、全体画像から対象物の一部を含む複数の部分画像を生成する生成手段(240)と、複数の部分画像と、部分画像に含まれる対象物の割合を示す割合値(Z)とを関連付けて記憶する記憶手段(250)と、見切れ状態となっている場合に、複数の部分画像と、見切れ状態となった対象物とを比較して、見切れ状態となった対象物に対応する割合値を決定する決定手段(270)と、見切れ状態となった対象物に対応する割合値に基づいて、車両(10)から撮像画像内の対象物までの距離を推定する推定手段(280)とを備える。【選択図】図6
DISTANCE ESTIMATION DEVICE
距離推定装置
19.09.2019
Patent
Elektronische Ressource
Japanisch
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