PROBLEM TO BE SOLVED: To provide an imaging device that is compatible of both improvement in object detection accuracy and reduction in computation load.SOLUTION: An object distance detection device comprises: a plurality of imaging units; an object information acquisition unit that acquires object information including distance information on an object; a retrieval condition setting unit that sets a condition upon retrieving an image element corresponding to a specific image element in a reference image shot by one of the plurality of imaging units from a reference image to be shot by other imaging unit thereof; and a stereo distance detection unit that implement the retrieval on the basis of the condition set by the retrieval condition setting unit, and detect a distance of the object on the basis of a parallax to be obtained by the retrieval. The retrieval condition setting unit is configured to set a retrieval range upon the retrieval on the basis of detection information on the object.SELECTED DRAWING: Figure 1
【課題】本発明は、物体検知精度の向上と演算負荷の低減を両立させることができる撮像装置を提供することを目的とする。【解決手段】複数の撮像部と、物体の距離情報を含む物体情報を取得する物体情報取得部と、前記複数の撮像部のうちの一つで撮影された基準画像内の特定の画像要素に対応する画像要素を他の撮像部で撮影される参照画像内で探索する際の条件を設定する探索条件設定部と、前記探索条件設定部で設定された条件に基づいて前記探索を行い、前記探索によって得られる視差に基づいて前記物体の距離を検出するステレオ距離検出部と、を備え、前記探索条件設定部は、前記物体の検出情報に基づいて、前記探索を行う際の探索範囲を設定する。【選択図】図1
OBJECT DISTANCE DETECTION DEVICE
物体距離検出装置
2017-12-14
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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