PROBLEM TO BE SOLVED: To allow a parallax to be accurately calculated from a stereo image imaging a step portion of a road surface so that a road surface state such as a height of the road surface can be accurately detected.SOLUTION: This road surface state detection device includes: a stereo camera which images a road surface in front of each vehicle and has a plurality of cameras arranged so as to vertically generate a parallax; and an arithmetic processing circuit which vertically searches for corresponding points of a plurality of images imaged by the plurality of cameras of the stereo camera to calculate the parallax, and calculates a height of the road surface as a state of the road surface based on the calculated parallax.SELECTED DRAWING: Figure 2
【課題】路面の段差部分を撮像したステレオ画像から高精度に視差を算出することができ、路面の高さなどの路面状態をより精度良く検出する。【解決手段】この路面状態検出装置は、それぞれ車両の前方の路面を撮像し、垂直方向に視差が生じるように配置された複数のカメラを有するステレオカメラと、ステレオカメラの複数のカメラによって撮像された複数の画像の対応点を垂直方向に探索して視差を算出し、算出された視差をもとに路面の状態として路面の高さを算出する演算処理回路とを具備して構成される。【選択図】図2
ROAD SURFACE STATE DETECTION DEVICE
路面状態検出装置
2017-11-02
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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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