To provide an inclination angle detection device capable of detecting an inclination angle with respect to a normal line of a ground surface of a two-wheel vehicle displayed on an image.SOLUTION: An inclination angle detection device comprises an object detection unit 31 for detecting an object area including a two-wheel vehicle, on an image by inputting the image produced by an imaging unit to a first discriminator previously learned so as to detect the two-wheel vehicle; a feature extraction area setting unit 32 for cutting out each of a plurality of feature extraction areas from the image by setting the plurality of feature extraction areas obtained by rotating the object area at each of prescribed angles that are different from each other; and an inclination angle detection unit 33 for detecting a rotation angle with respect to the image where a width of the two-wheel vehicle becomes minimum as an inclination angle of the two-wheel vehicle with respect to a normal line of a ground surface based on the rotation angle with respect to the image and the width of the two-wheel vehicle for each of the plurality of feature extraction areas, by finding the width of the two-wheel vehicle for each of the plurality of feature extraction areas.SELECTED DRAWING: Figure 3
【課題】画像に表された二輪車の地面の法線に対する傾斜角を検出することが可能な傾斜角検出装置を提供する。【解決手段】傾斜角検出装置は、撮像部により生成された画像を、二輪車を検出するように予め学習された第1の識別器に入力することで、画像上で二輪車を含む物体領域を検出する物体検出部31と、物体領域を互いに異なる所定角度ずつ回転させた複数の特徴抽出領域を設定し、複数の特徴抽出領域のそれぞれを画像から切り出す特徴抽出領域設定部32と、複数の特徴抽出領域のそれぞれにおいて二輪車の幅を求め、複数の特徴抽出領域のそれぞれについての画像に対する回転角と二輪車の幅とに基づいて、二輪車の幅が最小となる画像に対する回転角を、地面の法線に対する二輪車の傾斜角として検出する傾斜角検出部33とを有する。【選択図】図3
INCLINATION ANGLE DETECTION DEVICE AND CONTROL DEVICE
傾斜角検出装置及び制御装置
2021-10-14
Patent
Elektronische Ressource
Japanisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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