PROBLEM TO BE SOLVED: To improve estimation accuracy of a position of a road surface.SOLUTION: A road surface estimation device 20 includes: a division unit 212 for dividing a depth map based on a plurality of picked-up images photographed using a stereo camera 10 installed in a vehicle into a plurality of division regions; a selection unit 213 for selecting a plurality of planar regions nearer to a plane than prescribed flatness among the plurality of division regions; an extraction unit 214 for extracting a plurality of load surface candidate regions in a direction within a prescribed extent relative to an initial set direction of a direction of a road surface where a vehicle travels among a plurality of planar regions; and a specification unit 215 for specifying a position of a road surface where a vehicle is traveling based on the plurality of road surface candidate regions.SELECTED DRAWING: Figure 1
【課題】道路面の位置の推定精度を向上させる。【解決手段】道路面推定装置20は、車両に搭載されたステレオカメラ10を用いて撮像された複数の撮像画像に基づく距離画像を複数の分割領域に分割する分割部212と、複数の分割領域のうち、所定の平面度よりも平面に近い複数の平面領域を選択する選択部213と、複数の平面領域のうち、車両が走行する道路面の方向の初期設定方向に対して所定の範囲内の方向の複数の道路面候補領域を抽出する抽出部214と、複数の道路面候補領域に基づいて、車両が走行中の道路面の位置を特定する特定部215と、を有する。【選択図】図1
ROAD SURFACE ESTIMATION DEVICE
道路面推定装置
2017-06-29
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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