PROBLEM TO BE SOLVED: To provide an object detection apparatus which can detect an object, such as a preceding vehicle, properly.SOLUTION: A vehicle detection apparatus 1 for detecting a preceding vehicle having a variable relative distance to one vehicle, on the basis of an image captured from a traveling vehicle includes: a camera 10 mounted on the one vehicle; a search area determination unit 12 which determines an area including a road surface in the image, as a search area; a cost minimizing unit 13 which divides the search area into an upper area and a lower area by a boundary line, applies an optical flow model with a fixed magnification to the upper area, applies an optical flow model having planar constraint to the lower area, to determine corresponding points in a plurality of images captured at different times by the camera, and minimizes the cost on a difference in pixel value between the corresponding points; and a vehicle determination unit 14 which determines whether a preceding vehicle exists or not, on the basis of the boundary line.SELECTED DRAWING: Figure 2
【課題】前方車両等の物体を適切に検出することができる物体検出装置を提供する。【解決手段】車両検出装置1は、走行中の車両から撮像した画像に基づいて、自車両との相対距離が変動する前方車両を検出する装置である。自車両に搭載されたカメラ10と、画像中において路面を含む領域を探索領域として決定する探索領域決定部12と、探索領域を境界線によって上方領域と下方領域に二分し、上方領域には拡大率一定のオプティカルフローモデルを適用し、下方領域には平面拘束条件を有するオプティカルフローモデルを適用して、カメラにて異なる時刻に撮像された複数の画像における対応点を求め、当該対応点の画素値の差分に関するコストを最小とする境界線を求めるコスト最小化部13と、境界線に基づいて前方車両の有無を判定する車両有無判定部14とを備える。【選択図】図2
OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, AND PROGRAM
物体検出装置、物体検出方法、及びプログラム
2017-04-06
Patent
Electronic Resource
Japanese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, AND OBJECT DETECTION PROGRAM
European Patent Office | 2022
|OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, AND OBJECT DETECTION PROGRAM
European Patent Office | 2016
|OBJECT DETECTION APPARATUS, OBJECT DETECTION SYSTEM, OBJECT DETECTION METHOD, AND PROGRAM
European Patent Office | 2017
|OBJECT DETECTION APPARATUS, OBJECT DETECTION SYSTEM, OBJECT DETECTION METHOD, AND PROGRAM
European Patent Office | 2016
|OBJECT DETECTION METHOD, OBJECT DETECTION APPARATUS, AND PROGRAM
European Patent Office | 2021
|