To improve accuracy of recognition of a traffic sign candidate detected by a camera.SOLUTION: A traffic sign recognition device includes a storage device that stores a camera image of a movable body and three-dimensional point group data, and a processor. The processor estimates, in a case where the camera image includes an image of a traffic sign candidate, a relative position of the traffic sign candidate to the movable body based on the camera image, specifies a set of three-dimensional point group data including a relative position to the movable body that is equal to that of the traffic sign candidate, out of the three-dimensional point group data, specifies, in the camera image, an image region of an object that corresponds to a set region indicative of a region where the set is specified and that includes the traffic sign candidate, calculates, based on a size of the image region of the object and color components constituting an image of the object, a percentage of a predetermined color component constituting a guide sign among the color components constituting the image of the object, and recognizes the object including the traffic sign candidate as the guide sign in a case where the percentage of the predetermined color component is equal to or greater than a threshold.SELECTED DRAWING: Figure 2

    【課題】カメラで検出された交通標識候補に対する認識の精度を高める。【解決手段】移動体のカメラ画像と、三次元点群データとが格納される記憶装置と、プロセッサと、を備え、プロセッサが、カメラ画像に交通標識候補の画像が含まれる場合、カメラ画像に基づいて、交通標識候補の移動体に対する相対位置を推定し、三次元点群データのうち、移動体に対する相対位置が交通標識候補のそれと等しい三次元点群データの集合を特定し、集合が特定された領域を示す集合領域に対応し、且つ交通標識候補を含む物体の画像領域をカメラ画像内で特定し、物体の画像領域のサイズと、物体の画像を構成する色成分と、に基づいて、物体の画像を構成する色成分のうち、案内標識を構成する所定の色成分が占める割合を計算し、所定の色成分が占める割合が閾値以上である場合、交通標識候補を含む物体が案内標識であると認識する。【選択図】図2


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    Titel :

    TRAFFIC SIGN RECOGNITION DEVICE AND TRAFFIC SIGN RECOGNITION METHOD


    Weitere Titelangaben:

    交通標識認識装置及び交通標識認識方法


    Beteiligte:

    Erscheinungsdatum :

    2023-08-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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