PROBLEM TO BE SOLVED: To enable the distance to an object to be measured using a plurality of cameras differing in the direction of an optical axis, pertaining to a technique for measuring the distance to a three-dimensional object around the own vehicle.SOLUTION: A three-dimensional object detection unit 104 determines a differential image between road surface projection images corresponding to two cameras that are generated by a road surface projection image generation unit 103 and thereby determines whether or not a three-dimensional object exists in a space near a vehicle, and notifies a selection unit 105 of the determination result. When there is no three-dimensional object in the nearby space, the selection unit 105 indicates to a stereo distance measurement unit 107 to stereoscopically measure the distance from two cameras in the vehicle to the three-dimensional object. When there is a three-dimensional object in the nearby space, the selection unit 105 indicates to a contact distance calculation unit 108 to measure the distance from the vehicle to a contact area between the three-dimensional object corresponding to the edge area of the differential image and a ground surface. Thus, it is possible to correctly measure the distance between the three-dimensional object and the vehicle while selecting between the stereo distance measurement and the contact distance measurement depending on the condition of the three-dimensional object.SELECTED DRAWING: Figure 1
【課題】自車両の周囲の立体物を測距する技術に関し、光軸方向が異なる複数のカメラを用いて対象までの距離を測定可能とする。【解決手段】立体物検出部104は、路面投影画像生成部103が生成した2つのカメラに対応する路面投影画像の差分画像を判定することにより、車両の近傍空間内に立体物があるか否かを判定し、その判定結果を選択部105に通知する。選択部105は、近傍空間内に立体物がない場合には、ステレオ測距部107に対して、車両上の2つのカメラから立体物までのステレオ測距を指示する。選択部105は、近傍空間内に立体物がある場合は、接地距離算出部108に対して、車両から、差分画像のエッジ領域に対応する立体物と地面との接地面までの測距を指示する。立体物の状況により、ステレオ測距又は接地距離の測距を選択しながら立体物と車両との距離を正しく測距することが可能となる。【選択図】図1
DISTANCE MEASUREMENT PROGRAM, DISTANCE MEASUREMENT METHOD, AND DISTANCE MEASUREMENT DEVICE
測距プログラム、測距方法、及び測距装置
2017-08-31
Patent
Electronic Resource
Japanese
IPC: | 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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