PROBLEM TO BE SOLVED: To provide a method for discriminating among vehicle types more stably.SOLUTION: A vehicle type discrimination device includes: an acquisition part, an image generation part, a panoramic image estimation part, an interpolation part, an axle detection part and a discrimination part. The acquisition part acquires a detection point distance and a reflection intensity from a scanner part and acquires picked-up images from an imaging part. The image generation part generates a reflectance image which is an image obtained by varying the density of the detection point according to the reflection intensity of laser beams. The panoramic image estimation part estimates a panoramic image which is an image indicating the shape of a whole vehicle on the basis of the picked-up images. The interpolation part executes matching processing for comparing feature points of the panoramic image with the detection point of the reflectance image and interpolates the feature points of the panoramic image on the basis of the result of the matching process and the detection point distance. The axle detection part detects axles from the panoramic image whose feature points are interpolated and measures the number of axles and the distance between the axles. The discrimination part discriminates the type of the vehicle on the basis of the number of axles and the distance between the axles.SELECTED DRAWING: Figure 2
【課題】より安定して車種判別を行う方法が求められている。【解決手段】実施形態の車種判別装置は、取得部と、画像生成部と、全景画像推定部と、補間部と、車軸検出部と、判別部とを備える。取得部は、スキャナ部から検出点距離および反射強度を取得し、撮像部から撮像画像を取得する。画像生成部は、検出点の濃度をレーザの反射強度に応じて異ならせた画像であるリフレクタンス画像を生成する。全景画像推定部は、撮像画像に基づいて、車両全体の形状を示す画像である全景画像を推定する。補間部は、全景画像の特徴点とリフレクタンス画像の検出点とを照合するマッチング処理を実行し、マッチング処理の結果および検出点距離に基づいて、全景画像の特徴点を補間する。車軸検出部は、特徴点を補間した全景画像から車軸を検出し、車軸の数と車軸間の距離を計測する。判別部は、車軸の数と車軸間の距離に基づいて、車両の車種を判別する。【選択図】図2
VEHICLE TYPE DISCRIMINATION DEVICE AND VEHICLE TYPE DISCRIMINATION METHOD
車種判別装置および車種判別方法
2017-12-14
Patent
Electronic Resource
Japanese
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