The present invention has: a first distance detection unit that detects the distance to an object from an image acquired from a first and a second imaging unit; a first position detection unit that detects the position of the object on the basis of the distance detected by the first distance detection unit; a processing area setting unit that sets a processing area, in which the object detected by the first distance detection unit is included, in an image obtained from any of a plurality of imaging units including the first and second imaging units; a second position detection unit that detects the position of the object in the processing area; a second distance detection unit that detects the distance to the object on the basis of the position of the object detected by the second position detection unit; an orientation detection unit that detects the orientation of the object on the basis of the position of the object detected by the second position detection unit; and a determination unit that determines the distance to and the position of the object in accordance with the information detected by each of the first and second distance detection units, the first and second position detection units, and the orientation detection unit.
本申请具有:第1距离检测部,其根据从第1摄像部和第2摄像部得到的图像检测物体的距离;第1位置检测部,其基于第1距离检测部检测到的距离,来检测物体的位置;处理区域设定部,其在从包含第1摄像部和第2摄像部在内的多个摄像部的某一个得到的图像内,设定包含第1距离检测部检测到的物体的处理区域;第2位置检测部,其在处理区域内检测物体的位置;第2距离检测部,其基于第2位置检测部检测到的物体的位置,来检测物体的距离;姿势检测部,其基于由第2位置检测部检测到的物体的位置来检测物体的姿势;以及判定部,其根据由第1距离检测部、第2距离检测部、第1位置检测部、第2位置检测部以及姿势检测部分别检测出的信息,来判定物体的距离以及位置。
OBJECT POSITION DETECTION DEVICE, TRAVEL CONTROL SYSTEM, AND TRAVEL CONTROL METHOD
物体位置检测装置、行驶控制系统及行驶控制方法
2021-11-12
Patent
Electronic Resource
Chinese
IPC: | 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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