PROBLEM TO BE SOLVED: To prevent an error determination of a shield region.SOLUTION: A shield determination device 1 comprises: an image acquisition part that acquires a plurality of images imaged by an imaging device 3 at a different timing 11; a vehicle information acquisition part 13 that acquires a position of a vehicle 2 and an imaging direction of the imaging device 3; a map database 7 that stores the position of a material and external appearance information; a material estimation part 14 that estimates the material in a field angle in the imaging device 3 at an image ground point on the basis of the imaging direction of the position of the vehicle 2 and the imaging device 3 and the position of the material stored in the map database 7; an exclusion determination part 15 that determines whether the material in the field angle of the imaging device 3 estimated by the material estimation part 14 is a predetermined exclusion material on the basis of the external appearance information stored in the map database 7; and a state determination part 12 that determines whether the imaging device 3 is a shield state on the basis of a pixel value f a plurality of images excluding a region determined as the exclusion material by the exclusion determination part 15.SELECTED DRAWING: Figure 1

    【課題】遮蔽領域の誤判定を抑制する。【解決手段】遮蔽判定装置1は、異なるタイミングで撮像装置3により撮像された複数の画像を取得する画像取得部11と、車両2の位置及び撮像装置3の撮像方向を取得する車両情報取得部13と、物体の位置及び外観情報を記憶する地図データベース7と、車両2の位置及び撮像装置3の撮像方向と地図データベース7に記憶された物体の位置とに基づいて、撮像地点における撮像装置3の画角内の物体を推定する物体推定部14と、地図データベース7に記憶された外観情報に基づいて、物体推定部14により推定された撮像装置3の画角内の物体が予め定められた除外物体であるか否かを判定する除外判定部15と、除外判定部15により除外物体であると判定された領域を除いた複数の画像の画素値に基づいて、撮像装置3が遮蔽状態であるか否かを判定する状態判定部12と、を備える。【選択図】図1


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    Title :

    SHIELD DETERMINATION DEVICE


    Additional title:

    遮蔽判定装置


    Contributors:

    Publication date :

    2018-07-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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