To provide a fence detector that can detect a fence that is difficult to be detected by a sonar.SOLUTION: A fence detector 10 comprises: an image acquisition unit 101 for acquiring images obtained by an imaging unit 50 that is mounted on a vehicle 1 by imaging the surroundings of the vehicle 1; an obstacle detection unit 102 for detecting an obstacle existing in the surroundings of the vehicle 1 on the basis of a plurality of images acquired by the image acquisition unit 101; an obstacle determination unit 103 for determining whether or not the obstacle detected by the obstacle detection unit 102 is a stick object; a feature-points extraction unit 104, when the obstacle is determined as a plurality of stick objects by the obstacle determination unit 103, for extracting the feature points in an image area between the determined plurality of stick objects; and a fence determination unit 105 for determining that there is a fence between the stick objects when the plurality of feature points extracted by the feature-points extraction unit 104 meet a predetermined condition.SELECTED DRAWING: Figure 3

    【課題】ソナーでは検出が困難なフェンスを検出することのできるフェンス検出装置を提供する。【解決手段】フェンス検出装置10は、車両1に搭載された撮像部50で車両1の周辺を撮像して得られた画像を取得する画像取得部101と、画像取得部101が取得した複数の画像に基づいて、車両1の周辺に存在する障害物を検知する障害物検知部102と、障害物検知部102が検知した障害物が棒状物体であるか否かを判定する障害物判定部103と、障害物判定部103において障害物が棒状物体であると複数個判定された場合に、判定された複数個の棒状物体の間の画像領域における特徴点を抽出する特徴点抽出部104と、特徴点抽出部104が抽出した複数の特徴点が所定の条件を満たしている場合に、棒状物体の間にフェンスがあると判定するフェンス判定部105とを備える。【選択図】図3


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    Titel :

    FENCE DETECTOR


    Weitere Titelangaben:

    フェンス検出装置


    Beteiligte:
    YAO ZHIPENG (Autor:in) / KANEKO SHUZO (Autor:in) / KANEKO TAKAYUKI (Autor:in) / KONDO SHUNSUKE (Autor:in) / KUBOTA MAMORU (Autor:in) / MANDAI KOHEI (Autor:in)

    Erscheinungsdatum :

    2020-01-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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



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