PROBLEM TO BE SOLVED: To detect floating matter such as steam or exhaust gas with accuracy.SOLUTION: An outside-vehicle environment recognition device 120 includes: a three-dimensional object specification unit 164 that introduces the three-dimensional position of a three-dimensional portion from a luminance image, specifies a three-dimensional object by grouping the three-dimensional portion within a predetermined range, and derives a rectangular region containing the three-dimensional object; and a floating matter specification unit 166 that specifies the three-dimensional object as floating matter by a determination condition based on the luminance value of the three-dimensional object in the luminance image according to a low-luminance scene or high-luminance scene.
【課題】水蒸気や排気ガス等の浮遊物を精度よく検出する。【解決手段】車外環境認識装置120は、輝度画像から立体部位の3次元位置を導出し、所定範囲内である立体部位をグループ化することにより立体物を特定するとともに、立体物を含む矩形状の領域を導出する立体物特定部164と、低輝度シーンまたは高輝度シーンそれぞれに応じた、輝度画像における立体物の輝度値に基づく判定条件により、立体物を浮遊物と特定する浮遊物特定部166とを備える。【選択図】図2
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2016-01-07
Patent
Electronic Resource
Japanese
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