To improve the performance of an object detection device for detecting an object.SOLUTION: An object detection device is configured to execute first processing, second processing, and object detection processing (third and fourth processing). The first processing is for estimating the shape of a road surface in a real space based on a first parallax map. The first parallax map is generated based on the output of a stereo camera that captures an image including the road surface, and the parallax obtained from the output of the stereo camera is associated with two-dimensional coordinates composed of a first direction corresponding to the horizontal direction of the image captured by the stereo camera and a second direction intersecting the first direction. The second processing is for generating a second parallax map, in which the parallax whose height from the road surface in the real space corresponds to a predetermined range is removed from the first parallax map, based on the estimated shape of the road surface. The object detection processing (third and fourth processing) is for detecting an object based on the second parallax map.SELECTED DRAWING: Figure 5

    【課題】物体検出装置の物体を検出する性能を向上させる。【解決手段】物体検出装置は、第1処理と、第2処理と、物体検出処理(第3、第4処理)とを実行するように構成される。第1処理は、第1視差マップに基づき、実空間における路面の形状を推定する。第1視差マップは、路面を含む画像を撮像するステレオカメラの出力に基づき生成され、前記ステレオカメラの撮像画像の水平方向に対応する第1方向と、第1方向に交差する第2方向とから成る2次元座標に前記ステレオカメラの出力から得られる視差が対応付けられる。第2処理は、推定された路面の形状に基づき、実空間における路面からの高さが所定の範囲に対応する視差を、第1視差マップから除去した第2視差マップを生成する。物体検出処理(第3、第4処理)は、第2視差マップに基づいて物体を検出する。【選択図】図5


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, MOVING OBJECT, AND OBJECT DETECTION METHOD


    Weitere Titelangaben:

    物体検出装置、物体検出システム、移動体及び物体検出方法


    Beteiligte:
    OTA KAZUYUKI (Autor:in) / AKIMOTO KAZUMASA (Autor:in) / KONO KENJI (Autor:in) / KISHIMOTO JUNYA (Autor:in) / TAKANO FUKO (Autor:in)

    Erscheinungsdatum :

    2021-03-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    Object detection device, object detection system, moving object, and object detection method

    TAKANO KAEDEKO / AKIMOTO KAZUMASA / KISHIMOTO JUNYA et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Object detection device, object detection system, moving object, and object detection method

    OTA KAZUYUKI / AKIMOTO KAZUMASA / KONO KENJI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, MOVING OBJECT, AND OBJECT DETECTION METHOD

    KONO KENJI / TAKANO FUKO | Europäisches Patentamt | 2021

    Freier Zugriff

    OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, MOVING OBJECT AND OBJECT DETECTION METHOD

    KONO KENJI / TAKANO FUKO | Europäisches Patentamt | 2021

    Freier Zugriff

    OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, MOVING OBJECT, AND OBJECT DETECTION METHOD

    KONO KENJI / TAKANO FUKO | Europäisches Patentamt | 2023

    Freier Zugriff