PROBLEM TO BE SOLVED: To achieve the appropriate control of predetermined equipment mounted on a mobile body by appropriately identifying whether or not an object existing in the periphery of the mobile body is an object for control.SOLUTION: An object recognition part 205 detects a detection object such as another vehicle or a pedestrian existing in the periphery of a mobile body on the basis of a pickup image obtained by picking up the periphery of the mobile body. On the other hand, an object state determination part 207 specifies relative positions Dz, X of the detection object detected by the object recognition part to the mobile body on the basis of parallax information acquired from a pair of pickup images picked by a stereocamera, and specifies relative speeds Vx, Vy, Vz of the detection object to the mobile body from a difference between the image positions of the detection object between two or more pickup images (frames) whose pickup periods are different. An object recognition part 208 for control determines whether or not the specified relative positions and relative speeds satisfy the conditions of the relative positions and relative speeds as an object for control.
【課題】移動体周囲に存在する物体が制御用対象物か否かを適切に識別して移動体に搭載された所定機器の適切な制御を可能にすることを課題とする。【解決手段】移動体周囲を撮像して得られる撮像画像に基づいて移動体周囲に存在する他車両や歩行者等の検出対象物を物体認識部205で検出する。一方、物体状態判別部207は、ステレオカメラで撮像した一対の撮像画像から得られる視差情報に基づいて物体認識部が検出した検出対象物の当該移動体に対する相対位置Dz,Xを特定するとともに、撮像時期が異なる2つ以上の撮像画像間(フレーム間)における前記検出対象物の画像位置の違いから、該検出対象物の当該移動体に対する相対速度Vx,Vy,Vzを特定する。制御用対象物認識部208は、特定した相対位置及び相対速度が制御用対象物となる相対位置及び相対速度の条件を満たすか否かを判断する。【選択図】図4
OBJECT RECOGNITION DEVICE FOR CONTROL, MOBILE APPARATUS CONTROL SYSTEM, AND PROGRAM FOR OBJECT RECOGNITION FOR CONTROL
制御用対象物認識装置、移動体機器制御システム及び制御用対象物認識用プログラム
2015-07-23
Patent
Electronic Resource
Japanese
OBJECT RECOGNITION CONTROL DEVICE AND OBJECT RECOGNITION CONTROL METHOD
European Patent Office | 2022
|European Patent Office | 2023
|OBJECT RECOGNITION CONTROL DEVICE AND OBJECT RECOGNITION CONTROL METHOD
European Patent Office | 2024
|MOBILE OBJECT RECOGNITION DEVICE, MOBILE OBJECT RECOGNITION METHOD, AND PROGRAM
European Patent Office | 2019
|OBJECT RECOGNITION CONTROL DEVICE, AND OBJECT RECOGNITION METHOD
European Patent Office | 2022
|