To detect a specific object such as a pedestrian early and stably.SOLUTION: In a vehicle exterior environment recognition apparatus, a computer operates as a three-dimensional object region identifying unit identifying a three-dimensional object region 216 in which a three-dimensional object 212 exists by monocular recognition based on a luminance image, a specific part identifying unit correlating the three-dimensional object region with a distance image 128 and identifying a specific part 218 of the three-dimensional object region on the basis of distance information, and a speed-of-movement deriving unit deriving a speed of movement of the identified specific part. Accordingly, a specific object such as a pedestrian can be detected early and stably.SELECTED DRAWING: Figure 6
【課題】歩行者等の特定物を早期かつ安定して検出する。【解決手段】車外環境認識装置は、コンピュータが、輝度画像に基づく単眼認識により立体物212が存在する立体物領域216を特定する立体物領域特定部と、立体物領域を距離画像128に対応させ、距離情報に基づいて立体物領域の所定部位218を特定する所定部位特定部と、特定された所定部位の移動速度を導出する移動速度導出部として機能する。こうして歩行者等の特定物を早期かつ安定して検出することができる。【選択図】図6
VEHICLE EXTERIOR ENVIRONMENT RECOGNITION APPARATUS
車外環境認識装置
2019-02-21
Patent
Electronic Resource
Japanese