To reduce a computation load while preventing occurrence of an object whose position and speed cannot be estimated, in an object estimation device for estimating the position and speed of the object in a picked-up image.SOLUTION: The object estimation device comprises: parallax information calculation means 502 for calculating parallax information that includes parallax between corresponding pixels in a plurality of picked-up images having been picked up with the same timing; road surface area detection means 514 for detecting a road surface area in the picked-up image on the basis of the parallax information; road surface area determination means 516 for determining whether or not the pixels in the picked-up image are the pixels that correspond to the road surface area; transition information estimation means 518 for calculating transition information that includes a change amount of pixel positions using the picked-up images preceding and following in time; and estimation value calculation means 520, 524 for calculating the estimation value of position and speed of pixels in the picked-up image on the basis of the parallax information and the transition information, and estimating the position and speed of an object. The estimation value calculation means does not calculate an estimation value for pixels having been determined to be the pixels that correspond to the road surface area.SELECTED DRAWING: Figure 5
【課題】撮像画像中の対象物の位置及び速度を推定する対象物推定装置において、位置及び速度が推定されない対象物が発生することを防ぎつつ、演算負荷を低減する。【解決手段】同じ演算タイミングで撮像された複数の撮像画像において対応する画素同士の視差を含む視差情報を算出する視差情報算出手段502と、視差情報に基づいて撮像画像中の路面領域を検出する路面領域検出手段514と、撮像画像中の画素が路面領域に対応する画素であるか否かを判定する路面領域判定手段516と、時間的に前後する撮像画像を用いて画素の位置の変化量を含む推移情報を算出する推移情報算出手段518と、視差情報及び推移情報に基づいて撮像画像中の画素の位置及び速度の推定値を算出して対象物の位置及び速度を推定する推定値算出手段520,524を備える。推定値算出手段は、路面領域に対応する画素であると判定された画素については推定値を算出しない。【選択図】図5
OBJECT ESTIMATION DEVICE
対象物推定装置
2019-04-25
Patent
Electronic Resource
Japanese
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / 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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