PROBLEM TO BE SOLVED: To correctly detect a target such as another vehicle existing in the circumference of an own vehicle from a captured image.SOLUTION: An image processing device 10 includes a vehicle detection section 103, a feature map verification section 104, a time series verification section 105, and a detection result correction section 106. The vehicle detection section 103 performs a convolution operation with respect to an input image based on a captured image obtained by capturing with a camera 20 and detects a target, i.e. another vehicle. The feature map verification section 104 performs feature map verification to verify a probability that the other vehicle is included in an input image on the basis of a feature map obtained by a convolution operation of the vehicle detection section 103. The time series verification section 105 performs time series verification to verify, by time series, a result of feature map verification of the feature map verification section 104. The detection result correction section 106 corrects a detection result of the other vehicle by the vehicle detection section 103 on the basis of a result of time series verification of the time series verification section 105.SELECTED DRAWING: Figure 1
【課題】自車両の周辺に存在する他車両等の対象物を撮影画像から正確に検知する。【解決手段】画像処理装置10は、車両検出部103と、特徴マップ検証部104と、時系列検証部105と、検出結果修正部106とを備える。車両検出部103は、カメラ20で撮影して得られた撮影画像に基づく入力画像に対して畳み込み演算を行い、対象物すなわち他車両を検出する。特徴マップ検証部104は、車両検出部103の畳み込み演算によって得られる特徴マップに基づいて、入力画像に他車両が含まれる確からしさを検証する特徴マップ検証を行う。時系列検証部105は、特徴マップ検証部104による特徴マップ検証の結果を時系列で検証する時系列検証を行う。検出結果修正部106は、時系列検証部105による時系列検証の結果に基づいて、車両検出部103による他車両の検出結果を修正する。【選択図】図1
IMAGE PROCESSING DEVICE AND ENVIRONMENT RECOGNITION DEVICE
画像処理装置、外界認識装置
2018-06-21
Patent
Electronic Resource
Japanese
IMAGE PROCESSING DEVICE AND ENVIRONMENT RECOGNITION DEVICE
European Patent Office | 2018
|IMAGE PROCESSING DEVICE AND SURROUNDINGS RECOGNITION DEVICE
European Patent Office | 2020
|