PROBLEM TO BE SOLVED: To provide a substance detection device which can make compatible both the speed-up of the timing of a jump-out determination with respect to a substance and high determination accuracy, and a substance detection method.SOLUTION: A substance detection device comprises: an imaging acquisition part 21 for acquiring an imaged image in front of a vehicle in a forward traveling direction from a first imaging part 11 and a second imaging part 12 which are arranged at the vehicle; a dead angle determination part 24 for determining whether or not a dead angle exists, and a substance exists within the dead angle on the basis of the images which are imaged by the first imaging part and the second imaging part; an image holding part 25 for holding the images which are imaged by the imaging parts in a time series when it is determined that the substance exists within the dead angle; a difference acquisition part 26 for acquiring a difference between feature amounts of the held images in the time series as an image difference; and an approach determination part 27 for determining whether or not the substance approaches a front part of the vehicle in the forward traveling direction on the basis of the image difference.SELECTED DRAWING: Figure 1
【課題】物体に対する飛び出し判定のタイミングの早期化と高い判定精度とを両立することができる物体検出装置、及び物体検出方法を提供することを目的とする。【解決手段】車両に設けられた第1撮像部11及び第2撮像部12から車両の進行方向前方の撮像画像を取得する画像取得部21と、第1撮像部及び第2撮像部で撮像された各画像に基づいて、死角領域が存在し、かつその死角に物体が存在しているか否かを判定する死角判定部24と、死角領域に前記物体が存在していると判定された場合に、前記各撮像部により撮像された各画像を時系列で保持する画像保持部25と、保持された時系列の各画像における特徴量の違いを画像差分として取得する差分取得部26と、画像差分に基づいて、前記物体が前記車両の進行方向前方に接近するか否かを判定する接近判定部27と、を備える。【選択図】 図1
SUBSTANCE DETECTION DEVICE AND SUBSTANCE DETECTION METHOD
物体検出装置、及び物体検出方法
2017-12-14
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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