To improve accuracy in detecting a three-dimensional object.SOLUTION: A three-dimensional object detection apparatus generates a mask image 90 for masking a difference image G between a first perspective image F1 and a second perspective image F2 captured in a same imaging position O, excluding a three-dimensional object candidate area, and specifies a near ground line L1 on the basis of a mask difference image Gm obtained by masking the difference image G with the mask image 90. The three-dimensional object detection apparatus determines an end point V of the three-dimensional object on the basis of the mask difference image Gm, specifies an intersection Vm where a farthest non-masking area boundary Nf and a straight line passing through the end point V of the three-dimensional object intersect with each other in the mask image 90, and specifies a width of the object on the basis of a distance between the end point V and the intersection Vm. The three-dimensional object detection apparatus specifies a far ground line on the basis of the width of the object and the near ground line, and identifies a location of the three-dimensional object in the difference image on the basis of the near ground line and the far ground line.SELECTED DRAWING: Figure 2
【課題】立体物の検出精度を向上させること。【解決手段】立体物検出装置は、互いの撮影位置Oが揃った第1俯瞰画像F1、及び第2俯瞰画像F2の差分画像Gにおいて立体物候補領域以外をマスキングするマスク画像90を生成し、当該マスク画像90で差分画像Gをマスキングしたマスク差分画像Gmに基づいて近傍接地線L1を特定する。また立体物検出装置は、マスク差分画像Gmに基づいて立体物の端点Vを求め、マスク画像90において最遠方非マスキング領域境界Nfと前記立体物の端点Vを通る直線との交点Vmを特定し、当該端点Vと当該交点Vmとの間の距離に基づいて前記立体物の幅を特定する。そして立体物検出装置は、立体物の幅、及び近傍接地線に基づいて遠方接地線を特定し、近傍接地線、及び遠方接地線に基づいて差分画像における立体物の位置を特定する。【選択図】図2
THREE-DIMENSIONAL OBJECT DETECTION APPARATUS, IN-VEHICLE SYSTEM, AND THREE-DIMENSIONAL OBJECT DETECTION METHOD
立体物検出装置、車載システム、及び立体物検出方法
02.09.2021
Patent
Elektronische Ressource
Japanisch
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