PROBLEM TO BE SOLVED: To accurately detect a movement surface when detecting the three-dimensional position and size of a three-dimensional object on the movement surface, to detect the accurate position and size of the three-dimensional object, on the basis of a plurality of photographed images obtained by photographing the front of a movable body and a parallax image created from the photographed images.SOLUTION: A three-dimensional object detector includes a parallax image creation part 132 that creates a parallax image from photographed images photographed with a stereo camera, and an object tracking part 145 that tracks an object in the parallax image by using an object data list 147. The object data list 147 stores current information (position and size) on the detected object, as well as object prediction data (information on an assumed position of the object in the subsequent frame), feature amount of the object, and likelihood information (stability flag) indicating whether or not the object is to be tracked. The object tracking part 145 performs tracking of an object that is confirmed to be present for a long period and is highly likely to be tracked.SELECTED DRAWING: Figure 7
【課題】移動体の前方を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、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、立体物の正確な位置や大きさを検出する。【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、オブジェクトデータリスト147を用いて視差画像中のオブジェクトを追跡するオブジェクトトラッキング部145を有する。オブジェクトデータリスト147には、検出したオブジェクトの現在の情報(位置、大きさなど)に加え、オブジェクト予測データ(次フレームでのオブジェクトの推測位置などの情報)、オブジェクト特徴量、本オブジェクトが追跡すべきものか否かを示す確度情報(安定フラグ)などが保存されている。オブジェクトトラッキング部145は、長時間存在が確認されていて確度の高いオブジェクトの追跡を行う。【選択図】図7
THREE-DIMENSIONAL OBJECT DETECTOR, THREE-DIMENSIONAL OBJECT DETECTION METHOD, THREE-DIMENSIONAL OBJECT DETECTION PROGRAM, AND MOVABLE BODY APPARATUS CONTROL SYSTEM
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
2016-03-03
Patent
Electronic Resource
Japanese
European Patent Office | 2016
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