To provide a vehicle recognition device with which it is possible to individually recognize a plurality of vehicles overlapping one another in a captured image.SOLUTION: A vehicle recognition device 2 comprises: an acquisition unit 251 for acquiring a captured image of a plurality of vehicles forming a vehicle train on a road which is taken by a stereo camera from a diagonally backward direction; a parallax image generation unit 252 for generating a parallax image on the basis of the captured image; a vanishing point estimation unit 253 for estimating a vanishing point in the parallax image; a strip region generation unit 254 for dividing a region downward of the vanishing point in the parallax image in the lateral direction and generating a plurality of strip regions; a representative parallax calculation unit 255 for calculating a representative parallax for each strip region; a strip region extraction unit 256 for extracting a strip region effective for vehicle recognition from the plurality of strip regions on the basis of the representative parallax; a strip region connection unit 257 for connecting the extracted adjacent strip regions together on the basis of a distance distribution model of the rear and side surfaces of a vehicle and generating a connected strip region; and a vehicle recognition unit 259 for recognizing the vehicle on the basis of the connected strip region.SELECTED DRAWING: Figure 5
【課題】撮影画像において重なりが生じている複数の車両を個別に認識することができる車両認識装置を提供する。【解決手段】車両認識装置2は、道路上で車列を構成する複数の車両を斜め後ろの方向からステレオカメラによる撮影画像を取得する取得部251と、撮影画像に基いて視差画像を生成する視差画像生成部252と、視差画像における消失点を推定する消失点推定部253と、視差画像において消失点よりも下方の領域を横方向に分割して複数の短冊領域を生成する短冊領域生成部254と、短冊領域ごとの代表視差を算出する代表視差算出部255と、複数の短冊領域から、代表視差に基いて、車両の認識に有効な短冊領域を抽出する短冊領域抽出部256と、車両の背面と側面の距離分布モデルに基いて、抽出された隣り合う短冊領域を連結して連結短冊領域を生成する短冊領域連結部257と、連結短冊領域に基いて車両を認識する車両認識部259と、を備える。【選択図】図5
VEHICLE RECOGNITION DEVICE AND VEHICLE RECOGNITION METHOD
車両認識装置および車両認識方法
2019-11-21
Patent
Electronic Resource
Japanese
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