PROBLEM TO BE SOLVED: To enhance accuracy in detecting an obstacle.SOLUTION: An obstacle detection device includes a generation section, a conversion section, a calculation section, a change section, and a detection section. The generation section generates an optical flow from a reference image and a comparison image captured after the reference image among captured images captured by an imaging apparatus mounted on a vehicle. The conversion section projects the optical flow generated by the generation section against a road surface coordinate on the basis of a viewpoint position of the imaging apparatus so as to perform conversion into a road surface vector. The calculation section calculates a dispersion value of a size of a road surface vector converted by the conversion section. The change section changes a comparison image used by the generation section in generating the optical flow on the basis of a dispersion value calculated by the calculation section. The detection section detects an obstacle from a road surface vector based on a comparison image changed by the change section.SELECTED DRAWING: Figure 1B

    【課題】障害物の検出精度を向上させること。【解決手段】実施形態に係る障害物検出装置は、生成部と、変換部と、算出部と、変更部と、検出部とを備える。生成部は、車両に搭載された撮像装置によって撮像された撮像画像のうち、基準画像と、当該基準画像の後に撮像された比較画像とからオプティカルフローを生成する。変換部は、撮像装置の視点位置に基づいて生成部によって生成されたオプティカルフローを路面座標に投影することで路面ベクトルへ変換する。算出部は、変換部によって変換された路面ベクトルの大きさの分散値を算出する。変更部は、算出部によって算出された分散値に基づいて生成部がオプティカルフローの生成に用いた比較画像を変更する。検出部は、変更部によって変更された比較画像に基づく路面ベクトルから障害物を検出する。【選択図】図1B


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    Title :

    OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION METHOD, AND OBSTACLE DETECTION PROGRAM


    Additional title:

    障害物検出装置、障害物検出方法および障害物検出プログラム


    Contributors:

    Publication date :

    2018-08-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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




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