PROBLEM TO BE SOLVED: To accurately recognize a three-dimensional object existing on a road surface of an uphill in a vehicle-outside supervising device.SOLUTION: A stereo image processing unit 5 is configured to conduct stereo matching, using a pair of shot images obtained by a pair of cameras 2 and 3, and create a distance image serving as a distribution of a distance on the shot image. A three-dimensional detection unit 8 is configured to group the distance on the distance image to thereby detect three-dimensional objects existing on a road surface. A three-dimensional object correction unit 9 is configured to, when a pair of vertical line segments detected based on a luminance edge in a vertical direction in the shot image exists symmetrically in a retrieval range including an area of the three-dimensional object detected by the three-dimensional detection unit 8, correct a lower end of the three-dimensional object on the basis of a lower end of the vertical line segment.SELECTED DRAWING: Figure 1

    【課題】車外監視装置において、上り坂の路面上に存在する立体物を精度よく認識する。【解決手段】ステレオ画像処理部5は、一対のカメラ2,3により得られた一対の撮像画像を用いたステレオマッチングを行い、撮像画像上における距離の分布である距離画像を生成する。立体物検出部8は、距離画像上の距離をグルーピングすることによって、路面上に存在する立体物を検出する。立体物補正部9は、立体物検出部8によって検出された立体物の領域を含む探索範囲において、撮像画像における垂直方向の輝度エッジに基づき検出された垂直線分のペアが左右対称に存在する場合、垂直線分の下端に基づいて、立体物の下端を補正する。【選択図】図1


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    Title :

    VEHICLE EXTERNAL SUPERVISING DEVICE


    Additional title:

    車外監視装置


    Contributors:

    Publication date :

    2018-02-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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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