To provide obstacle detection means which can be applied to a movable body such as a train and is based on highly accurate depth information for both of an object in a close distance and an object in a long distance.SOLUTION: An obstacle detection device comprises: a first depth expression generation unit which generates a first depth expression indicating a distance between a movable body and an object existing in the periphery of the movable body by using a parallax image generated from a first image and a second image; a second depth expression generation unit which generates a second depth expression indicating the distance between the movable body and the object existing in the periphery of the movable body by processing the first image with a prescribed machine learning method; a third depth expression generation unit which generates an integrated depth expression more correctly indicating the distance between the movable body and the object existing in the periphery of the movable body in comparison to the first depth expression and the second depth expression by coupling the first depth expression and the second depth expression; and an obstacle detection unit which generates and outputs obstacle information about an obstacle in the periphery of the movable body by using the integrated depth expression.SELECTED DRAWING: Figure 3
【課題】列車等の移動体に適用可能であり、かつ、近距離の物体及び遠距離の物体の両方について高精度な深度情報に基づく障害物検出手段を提供すること。【解決手段】第1の画像と、第2の画像とから生成される視差画像を用いて、移動体と移動体の周辺に存在する物体との距離を示す第1の深度表現を生成する第1の深度表現生成部と、第1の画像を所定の機械学習手法によって処理することにより、移動体と移動体の周辺に存在する物体との距離を示す第2の深度表現を生成する第2の深度表現生成部と、第1の深度表現と、第2の深度表現とを結合することで、第1の深度表現と第2の深度表現とに比べて、移動体と移動体の周辺に存在する物体との距離をより正確に示す結合深度表現を生成する第3の深度表現生成部と、結合深度表現を用いて、前記移動体の周辺の障害物に関する障害物情報を生成し、出力する障害物検出部とを含む障害物検出装置。【選択図】図3
OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION SYSTEM AND OBSTACLE DETECTION METHOD
障害物検知装置、障害物検知システム及び障害物検知方法
2022-03-23
Patent
Elektronische Ressource
Japanisch
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