PROBLEM TO BE SOLVED: To improve the accuracy in detecting a road surface.SOLUTION: An image processing apparatus comprises: a creation part that creates, from a distance image having distance values according to the distances of road surfaces in a plurality of photographed images respectively photographed with a plurality of imaging parts, vertical direction distribution data indicating a distribution of frequency of the distance values with respect to the vertical direction of the distance image; a selection part that selects candidates for a sample point on the basis of the density of the frequency of the distance values in the vertical direction distribution data; and a detection part that detects the road surface on the basis of a sample point extracted from the candidates for the sample point selected by the selection part.SELECTED DRAWING: Figure 7
【課題】路面を検出する精度を向上させること。【解決手段】画像処理装置において、複数の撮像部で各々撮影された複数の撮影画像における路面の距離に応じた距離値を有する距離画像から、前記距離画像の垂直方向に対する距離値の頻度の分布を示す垂直方向分布データを生成する生成部と、前記垂直方向分布データにおける距離値の頻度の密度に基づいて、標本点の候補を選択する選択部と、前記選択部に選択された標本点の候補から抽出された標本点に基づいて、路面を検出する検出部と、を備える。【選択図】図7
IMAGE PROCESSING APPARATUS, IMAGING DEVICE, MOVABLE BODY MACHINE CONTROL SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM
画像処理装置、撮像装置、移動体機器制御システム、画像処理方法、及びプログラム
2018-03-01
Patent
Electronic Resource
Japanese
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