PROBLEM TO BE SOLVED: To improve detection accuracy in a technology of detecting a stationary object.SOLUTION: A stationary object detection apparatus includes an image acquisition unit, an edge detection unit, a lower-end identifying unit, a moving-amount acquisition unit, a position estimation unit, and a stationary object detection unit. The image acquisition unit acquires images captured repeatedly at a prescribed cycle (S110). The lower-end identifying unit identifies lower end positions of specific edges formed of consecutive edge points with pixel values which change not lower than a threshold in an image (S160, S200). The position estimation unit adds a vehicle moving amount to the lower end position of the specific edge, to determine an estimated position (S240, S250). The stationary object detection unit detects an appropriate edge, which is a specific edge satisfying a condition that the estimated position is aligned with a lower end position of a specific edge specified in the next prescribed cycle, as an edge of a stationary object (S260-S290).SELECTED DRAWING: Figure 2

    【課題】静止物を検出する技術において、検出の精度を向上させること。【解決手段】静止物検出装置は、画像取得部と、エッジ検出部と、下端特定部と、移動量取得部と、位置推定部と、静止物検出部とを備える。画像取得部は、規定サイクルで繰り返し撮影した画像を取得する(S110)。下端特定部は、画像において画素値が閾値以上変化するエッジ点が連続する各特定エッジの下端位置を特定する(S160,S200)。位置推定部は、特定エッジの下端位置に車両移動量を加えることで、推定位置を推定する(S240,S250)。静止物検出部は、推定された推定位置に、次の規定サイクルで特定した特定エッジの下端位置が一致することを適合条件とし、その適合条件を満たした特定エッジである適合エッジを、静止物の縁として検出する(S260〜S290)。【選択図】図2


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    Title :

    STATIONARY OBJECT DETECTION APPARATUS AND PROGRAM


    Additional title:

    静止物検出装置、及びプログラム


    Contributors:

    Publication date :

    2017-04-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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