PROBLEM TO BE SOLVED: To perform calibration corresponding to a change even if a distance between an imaging part and a road face is changed due to a change in the weight of a moving body and a change in the pneumatic pressure of wheels.SOLUTION: A moving amount detection part 321a detects a pixel moving amount on the basis of a captured imaged image which is captured by an imaging part 210 with respect to a stop line being a feature part on a road face having a well-known length along a traveling direction of a moving body MV. A specification part 322A specifies a white line region in the captured image. Then, when it is determined that the moving body MV linearly travels on the flat road face at a constant velocity, the calibration part 323A calibrates a distance on the road face corresponding to one pixel related to a distance between the imaging part 210 and the road face, on the basis of the well-known length along the traveling direction of the moving body MV on the stop line, in addition to the pixel moving amount and a specified result of the white line region in the captured image.SELECTED DRAWING: Figure 4
【課題】移動体重量の変化や車輪の空気圧の変化により、撮像部と路面との間の距離が変化しても、当該変化に応じた較正を行う。【解決手段】移動体MVの走行方向に沿って既知の長さを有する路面上特徴部である停止線に関する撮像部210による撮像画像に基づいて、移動量検出部321Aが、ピクセル移動量を検出する。また、特定部322Aが、撮像画像中における白線領域を特定する。そして、較正部323Aが、ピクセル移動量及び撮像画像内における白線領域の特定結果に加えて、停止線の移動体MVの走行方向に沿った既知の長さに基づいて、移動体MVが平坦な路面を等速直進走行していると判断できる場合に、撮像部210と路面との間の距離に関連する、1ピクセルに対応する路面上の距離を較正する。【選択図】 図4
DETECTION DEVICE, DETECTION METHOD, DETECTION PROGRAM AND RECORDING MEDIUM
検出装置、検出方法、検出プログラム及び記録媒体
2018-07-19
Patent
Electronic Resource
Japanese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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