This road surface detection device according to the present invention is provided with: an image acquisition unit that acquires captured image data outputted from a stereo camera which captures an imaging region including the road surface on which a vehicle travels; a three-dimensional model generation unit that generates, on the basis of the captured image data, a three-dimensional model of the imaging region including the surface shape of the road surface from the viewpoint of the stereo camera; and a correction unit that deduces a plane from the three-dimensional model, and corrects the three-dimensional model such that the normal vector direction of the plane and the height position of the plane with respect to the stereo camera respectively match the correct value of the normal vector direction of the road surface and the correct value of the height position of the road surface with respect to the stereo camera.
实施方式的路面检测装置,具备:图像取得部,其取得从对包括车辆行驶的路面的拍摄区域进行拍摄的立体摄像头输出的拍摄图像数据;三维模型生成部,其基于拍摄图像数据,生成立体摄像头视点的包括路面的表面形状的拍摄区域的三维模型;校正部,其从三维模型估计平面,并校正三维模型,以使平面的法线矢量的朝向及相对于立体摄像头的平面的高度位置、与路面的法线矢量的朝向的通常值及相对于立体摄像头的路面的高度位置的通常值分别匹配。
ROAD SURFACE DETECTION DEVICE AND ROAD SURFACE DETECTION PROGRAM
路面检测装置以及路面检测程序
2021-07-23
Patent
Electronic Resource
Chinese
IPC: | 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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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