To provide an obstacle recognizing device 30 that detects an obstacle between a moving object and a stationary object.SOLUTION: In the obstacle recognizing device 30, a processing image 40 obtains, in sequence, pieces of image data repeatedly picked up by a front camera 11 when it is determined that a vehicle is moving. The processing unit 40 extracts a plurality of feature points contained in each of the pieces of image data obtained in sequence. The processing unit 40 obtains the respective flow lengths of the plurality of feature points. The processing unit 40 recognizes as an obstacle that is the plurality of feature points satisfying a determination result such that the moving distance is determined as equal to or longer than a threshold Sa and the moving distance is determined as equal to or longer than a threshold Sb.SELECTED DRAWING: Figure 1
【課題】移動物と静止物との間の障害物を検出する障害物認識装置30を提供する。【解決手段】障害物認識装置30では、処理部40は、車両が移動していると判定したとき、フロントカメラ11によって繰り返し撮影される画像データを順次取得する。処理部40は、順次取得される画像データに含まれる複数の特徴点を抽出する。処理部40は、複数の特徴点のフロー長を求める。処理部40は、移動距離が閾値Sa以上であると判定し、かつ移動距離が閾値Sb以上であると判定した判定結果を満たした複数の特徴点を障害物として認識する。【選択図】図1
OBSTACLE RECOGNIZING DEVICE
障害物認識装置
2021-04-22
Patent
Elektronische Ressource
Japanisch
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