PROBLEM TO BE SOLVED: To improve object detection performance.SOLUTION: In an object detection apparatus, a flow deriving unit derives an optical flow, on the basis of characteristic points of captured images obtained periodically by a camera which images the surroundings of a vehicle. A grouping unit groups the characteristic points relating to the optical flow, on the basis of positions of the characteristic points, to derive a group. An object detection unit detects an object, on the basis of the size of the group. A signal receiving unit 16 acquires a speed of the vehicle 9. A parameter setting unit 61 sets a parameter influencing the size of the group so that the size of the group may be larger as the speed of the vehicle 9 is lower (steps S11-S14).SELECTED DRAWING: Figure 14

    【課題】物体の検出性能を向上する。【解決手段】物体検出装置においては、フロー導出部が自車両の周辺を撮影するカメラで周期的に得られる撮影画像の特徴点に基づいてオプティカルフローを導出する。そして、グループ化部がオプティカルフローに係る特徴点を該特徴点の位置に基づいてグループ化してグループを導出し、物体検出部がグループのサイズに基づいて物体を検出する。また、信号受信部16が自車両9の速度を取得し、パラメータ設定部61が自車両9の速度が低いほどグループのサイズが大きくなるようにグループのサイズに影響するパラメータを設定する(ステップS11〜S14)。【選択図】図14


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    Title :

    OBJECT DETECTION APPARATUS, OBJECT DETECTION SYSTEM, OBJECT DETECTION METHOD, AND PROGRAM


    Additional title:

    物体検出装置、物体検出システム、物体検出方法及びプログラム


    Contributors:

    Publication date :

    2017-02-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen




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