To estimate a locus including a vertical motion of an object.SOLUTION: A locus estimation method acquires one's own vehicle-peripheral image in a first time and a second time after the first time by an image sensor mounted on one's own vehicle (S1), extracts a characteristic point in the image of the first time and a characteristic point in the image of the second time corresponding to the characteristic point of the first time (S3), detects triaxial translation motion and triaxial rotary motion of the image sensor 3 (S6), calculates a three-dimensional locus of the characteristic point in the image of the first time and the characteristic point in the image of the second time corresponding to the characteristic point of the first time based on the detected triaxial translation motion and triaxial rotary motion (S7 and S8), and connects the plurality of three-dimensional loci (S9).SELECTED DRAWING: Figure 11
【課題】対象物の上下動を含んだ軌跡を推定する。【解決手段】軌跡推定方法は、自車両に搭載された画像センサにより第1時刻及び第1時刻より後の第2時刻において自車両周囲の画像を取得し(S1)、第1時刻の画像中の特徴点と、第1時刻の特徴点に対応する第2時刻の画像中の特徴点とを抽出し(S3)、画像センサの3軸並進運動及び3軸回転運動を検出し(S6)、検出した3軸並進運動及び3軸回転運動に基づき、第1時刻の画像中の特徴点と、第1時刻の特徴点に対応する第2時刻の画像中の特徴点と、の3次元軌跡を算出し(S7、S8)、複数の前記3次元軌跡を接続する(S9)。【選択図】図11
LOCUS ESTIMATION METHOD AND LOCUS ESTIMATION DEVICE
軌跡推定方法及び軌跡推定装置
2019-02-07
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / 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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