An image processing apparatus includes: a generating unit configured to generate, from a distance image including distance values, each corresponding to a distance to a road surface, obtained from a plurality of captured images respectively captured by a plurality of image capturing units, vertical distribution data for indicating frequency distribution of distance values in the distance image; a selecting unit configured to select candidate points based on a density of frequencies of the distance values in the vertical distribution data; and a detecting unit configured to detect a road surface based on the sample points extracted from the candidate points that have been selected by the selecting unit.
画像処理装置、移動体機器制御システム、画像処理方法、及びプログラム
2021-01-13
Patent
Elektronische Ressource
Japanisch