The present invention is provided with: an image capturing means (10) having an photographic optical system (11) and adapted for capturing an image of a predetermined area, an image conversion means (31) for viewpoint-converting an image obtained by the image capturing means to create a bird's-eye-view image; a water droplet detection means (40) for setting an arbitrary attention point in the image, a plurality of first reference points inside an imaginary circle of a predetermined radius having the attention point as the center thereof, and a plurality of second reference points corresponding to the first reference points outside the imaginary circle, detecting edge information between the first reference points and second reference points, and assessing the circularity strength of these edge information, thereby detecting water droplets attached to the photographic optical system; a first three-dimensional object detection means (33) for generating differential waveform information from the differential image of the bird's-eye-view images at different points in time obtained by the image conversion means and detecting a three-dimensional object based on the differential waveform information; a three-dimensional object assessment means (38) for assessing whether the three-dimensional object that has been detected by the first three-dimensional object detection means is another vehicle; a water droplet removal device (41) for removing water droplets attached to the photographic optical system; and a control unit (39) for operating the water droplet removal means in accordance with the water droplet attachment state detected by the water droplet detection means.
WATER DROPLET DETECTION DEVICE AND THREE-DIMENSIONAL OBJECT DETECTION DEVICE USING WATER DROPLET DETECTION DEVICE
VORRICHTUNG ZUR ERKENNUNG VON WASSERTROPFEN SOWIE VORRICHTUNG ZUR ERKENNUNG DREIDIMENSIONALER OBJEKTE MIT DIESER VORRICHTUNG ZUR ERKENNUNG VON WASSERTROPFEN
DISPOSITIF DE DÉTECTION DE GOUTTELETTE D'EAU ET DISPOSITIF DE DÉTECTION D'OBJECT TRIDIMENSIONNEL UTILISANT DISPOSITIF DE DÉTECTION DE GOUTTELETTE D'EAU
2018-10-31
Patent
Electronic Resource
English
IPC: | H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G03B APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM , Geräte oder Anordnungen zum Aufnehmen, Projizieren oder Betrachten von Fotografien / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
European Patent Office | 2018
|European Patent Office | 2015
|European Patent Office | 2015
|