PROBLEM TO BE SOLVED: To simultaneously exclude the recognition of a pedestrian the traffic sign and the like by a distance element that measures by using a shape and a color of an object and a camera 2, and the possibility that a light emission part of a traffic signal emitting light by LED is turned off so as to be imaged.SOLUTION: An image signal of a camera 1 and an image signal of a camera 2 perform distance measurement in a distance measurement section synchronized each other, and perform recognition of an object. In the next second and third frames, an image sensor 2 is synchronized with an image sensor 1 by later than 1/4 frequency portion of a power supply frequency, and a timing is matched by a value of parallax D which is a calculation result of the output of a traffic signal recognition circuit for determining signals of the image sensor 1 and a distance calculation circuit 12. In the light emission parts of the traffic signal of blue, red, and yellow colors, the signal higher in luminance signal is selected from the image sensor 1 and the image sensor 2. Alternately, an addition-processing of the two image signals prevents the light emission part of the traffic signal from becoming a video that flashes or turns off the light emission part of the traffic signal.SELECTED DRAWING: Figure 2
【課題】対象物の形、色及び、カメラ2台を使って計測する距離の要素による歩行者、交通標識等の認識と、LEDで発光する交通信号機の発光部分が消灯して撮影される可能性の排除を両立する事。【解決手段】カメラ1の画像信号とカメラ2の画像信号は、同期している距離計測区間において距離計測を行い対象物の認識をおこなう。さらに、次の第2第3のフレームでは画像センサー2を電源周期の1/4周期分画像センサー1に対して遅れて同期させ、画像センサー1の信号を判断する信号機認識回路の出力と距離計算回路12の計算結果である視差Dの値によりタイミングを合わせ、交通信号機の青、赤、黄色の発光部分では画像センサー1及び画像センサー2からの輝度信号の高い方の信号を選択する、もしくは2つの画像信号を加算処理することにより、交通信号機の発光部分が点滅もしくは消灯した映像になることを防止する。【選択図】図2
STEREO CAMERA UNIT
ステレオカメラユニット
2017-03-30
Patent
Electronic Resource
Japanese
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