To suppress the influence of motion component of the own vehicle exerted upon the movement vector of an object calculated from a captured image.SOLUTION: A movement vector calculation method of the present invention includes: acquiring the image of scene around the own vehicle at a first time of day and a second time of day by an image sensor mounted in the own vehicle (S1); extracting a feature point in the image at the first time of day and a feature point in the image at the second time of day that corresponds to the feature point at the first time of day (S2); acquiring the three-dimensional coordinates of the feature point at the first time of day (S5); detecting the tri-axis translation motion and tri-axis rotation motion of the image sensor (S7); projecting the three-dimensional coordinates of the feature point at the first time of day to the two-dimensional coordinate system of the image sensor at the second time of day on the basis of the detected tri-axis translation motion and tri-axis rotation motion (S8, S9); and calculating a motion vector from a point where the feature point at the first time day is projected to the two-dimensional coordinate system to the feature point at the second time of day (10).SELECTED DRAWING: Figure 8

    【課題】撮像画像から算出される物体の移動ベクトルに与える自車両の運動成分の影響を抑制することを目的とする。【解決手段】移動ベクトル算出方法は、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(S2)、第1時刻の特徴点の3次元座標を取得し(S5)、画像センサの3軸並進運動及び3軸回転運動を検出し(S7)、検出した3軸並進運動及び3軸回転運動に基づいて、第1時刻の特徴点の3次元座標を、第2時刻における画像センサの画像の2次元座標系へ投影し(S8、S9)、第1時刻の特徴点を2次元座標系へ投影した点から第2時刻の特徴点までの移動ベクトルを算出する(S10)。【選択図】図8


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    Title :

    MOVEMENT VECTOR CALCULATION METHOD AND MOVEMENT VECTOR CALCULATION DEVICE


    Additional title:

    移動ベクトル算出方法及び移動ベクトル算出装置


    Contributors:

    Publication date :

    2019-02-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / 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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