To appropriately detect a vanishing point that can be used for estimating the attitude of a vehicle.SOLUTION: A vanishing point detection device (100) comprises: attitude assessment means (140) for assessing the attitude of a vehicle from a first image having been imaged by a first imaging device (11) that images surroundings ahead of a vehicle (1) and a second image having been imaged by a second imaging device (12) that images surroundings behind the vehicle; vanishing point calculation means (132) for calculating a plurality of vanishing point candidates from a third image having been imaged by a third imaging device (13) that images surroundings ahead of the vehicle; and extraction means (150) for extracting a vanishing point from vanishing point candidates selected from the plurality of calculated vanishing point candidates on the basis of the assessed attitude.SELECTED DRAWING: Figure 1
【課題】車両の姿勢の推定に用いることができる消失点を適切に抽出する。【解決手段】消失点抽出装置(100)は、車両(1)の前方を撮像する第1撮像装置(11)により撮像された第1画像と、車両の後方を撮像する第2撮像装置(12)により撮像された第2画像と、から車両の姿勢を判定する姿勢判定手段(140)と、車両の前方を撮像する第3撮像装置(13)により撮像された第3画像から複数の消失点候補を算出する消失点算出手段(132)と、算出された複数の消失点候補から判定された姿勢に基づいて選別された消失点候補から消失点を抽出する抽出手段(150)と、を備える。【選択図】図1
VANISHING POINT EXTRACTION DEVICE
消失点抽出装置
22.04.2022
Patent
Elektronische Ressource
Japanisch
British Library Online Contents | 1993
|Line Clustering with Vanishing Point and Vanishing Line
British Library Conference Proceedings | 1999
|PROGRAM, DEVICE AND METHOD FOR CALCULATING VANISHING POINT
Europäisches Patentamt | 2021
|