PROBLEM TO BE SOLVED: To provide an object feature point detector which correctly detects points on a target object to be detected as feature points even under the condition that the object is overlapped with other object.SOLUTION: Travel path information of a vehicle 10 is detected. On the basis of the travel path information, a lane on the travel path is recognized. Objects which are present around the vehicle 10 (preceding vehicle 32, wall at the side of the travel path 84 or the like) are detected. On the basis of the detection result, points along the profile of a target object (preceding vehicle 32) are detected. By applying the target object (preceding vehicle 32) to the recognized lane, it is determined whether a combination condition detected through combination of the points along the profile with the other objects (wall 84, peripheral vehicle) is satisfied at one side of the target object. When the combination condition is satisfied at the one side (for example, left side), points belonging to the other side of the target object (for example, right side) are set as feature points 106.SELECTED DRAWING: Figure 13

    【課題】この発明は、物体特徴点検知装置に関し、検出すべき対象物体が他物体と重なってしまう状況下でも、その対象物体上の点を正しく特徴点として検知することを目的とする。【解決手段】車両10の走路情報を検出する。走路情報に基づいて走路上のレーンを認識する。車両10の周辺に存在する物体(先行車両32、走路脇の壁84など)を検出する。その検出結果に基づいて、対象物体(先行車両32)の輪郭上の点を検出する。認識したレーンに対象物体(先行車両32)を当て嵌めて、その輪郭上の点が、他物体(壁84、周辺車両)と結合して検出される結合条件が対象物体の一方の側で成立しているか否かを判定する。結合条件が一方の側(例えば左側)で成立している場合に、対象物体の他方の側(例えば右側)に属する点を特徴点106とする。【選択図】図13


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    Title :

    OBJECT FEATURE POINT DETECTOR


    Additional title:

    物体特徴点検知装置


    Contributors:

    Publication date :

    2018-02-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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