PROBLEM TO BE SOLVED: To detect the accurate position or size of a solid object by accurately detecting a movement surface on which a mobile body moves, and preventing the connection of the parallax values of the movement surface with the parallax values of the object in the case of detecting the three-dimensional position or size of the solid object on the movement surface on the basis of a plurality of pickup images obtained by imaging the front side of the mobile body by a plurality of imaging means and a parallax image generated from the pickup images.SOLUTION: A solid object detection device includes: a parallax image generation part 132 for generating a parallax image from pickup images imaged by stereo cameras; a road surface shape detection part 135 for detecting a road surface in the pickup image; a real U map generation part 138 for generating map information indicating the frequency distribution and height distribution of parallax values with a lateral axis as a distance in a lateral direction and a longitudinal axis as a distance in a moving direction on the basis of the detected road surface and the parallax image; an isolated area detection part 139 for detecting an isolated area on the basis of the frequency distribution; and an object area extraction part 141 for extracting a solid object (object) on the road surface on the basis of the isolated area.

    【課題】移動体の前方を複数の撮像手段で撮像して得た複数の撮像画像及びその撮像画像から生成した視差画像に基づいて、当該移動体が移動する移動面上の立体物の三次元的な位置や大きさを検出するときに、移動面を正確に検出して移動面の視差値と物体の視差値の連結を防止し、立体物の正確な位置や大きさを検出できるようにする。【解決手段】ステレオカメラの撮像画像から視差画像を生成する視差画像生成部132と、前記撮像画像内における路面を検出する路面形状検出部135と、検出された路面と視差画像とに基づいて、横軸を横方向の距離、縦軸を移動方向の距離とした視差値の頻度分布及び高さ分布を表すマップ情報を生成するリアルUマップ生成部138と、前記頻度分布に基づいて孤立領域を検出する孤立領域検出部139と、前記孤立領域に基づいて路面上の立体物(物体)を抽出するオブジェクト領域抽出部141と、を有する。【選択図】図4


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    Title :

    SOLID OBJECT DETECTION DEVICE, SOLID OBJECT DETECTION METHOD, SOLID OBJECT DETECTION PROGRAM, AND MOBILE APPARATUS CONTROL SYSTEM


    Additional title:

    立体物検出装置、立体物検出方法、立体物検出プログラム、及び移動体機器制御システム


    Contributors:

    Publication date :

    2015-10-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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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