To provide an obstacle identification apparatus which can estimate vehicle shadow easily, and an obstacle identification program.SOLUTION: An obstacle identification apparatus 30 incudes: an acquisition unit which acquires images captured by cameras 11, 12, 13, 14 mounted on a vehicle; a filter 33 which calculates a first gradient Iu which is a gradient of luminance values of pixels in the image in one direction, and a second gradient Iv which is a gradient of luminance values in a direction orthogonal to the direction of the first gradient; a boundary estimation unit which estimates a shadow boundary, which is a boundary between vehicle shadow of the vehicle and an object outside the vehicle, on the basis of the first gradient and the second gradient; and a vehicle shadow estimation unit which estimates vehicle shadow on the basis of the shadow boundary estimated by the boundary estimation unit.SELECTED DRAWING: Figure 1

    【課題】容易に自車影を推定できる障害物識別装置および障害物識別プログラムを提供する。【解決手段】障害物識別装置30は、車両に搭載されるカメラ11、12、13、14によって撮像された画像を取得する取得部と、画像における画素の輝度値の一方向の勾配である第1勾配Iuと、第1勾配の方向に対して直交する方向の輝度値の勾配である第2勾配Ivとを演算するフィルタ33と、第1勾配と第2勾配とに基づいて、車両の影である自車影と車両の外側の物体との境界である影境界を推定する境界推定部と、境界推定部によって推定された影境界に基づいて、自車影を推定する自車影推定部と、を備える。【選択図】図1


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    Titel :

    OBSTACLE IDENTIFICATION APPARATUS AND OBSTACLE IDENTIFICATION PROGRAM


    Weitere Titelangaben:

    障害物識別装置および障害物識別プログラム


    Beteiligte:
    MIWA TAKUYA (Autor:in) / HIROMITSU TAKAYUKI (Autor:in) / TAKADA AKIHIRO (Autor:in) / SUGIHARA KUNIYASU (Autor:in) / HAMAMOTO YUTAKA (Autor:in) / FUKUMAN MASUMI (Autor:in)

    Erscheinungsdatum :

    2021-04-22


    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



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