To appropriately pair a rear face with a side face and thus improve accuracy in identifying a three-dimensional object.SOLUTION: In a vehicle exterior environment recognition apparatus, a computer operates as a position deriving unit that derives a three-dimensional position of each block in an image obtained from an imaging device, a grouping unit that groups the blocks to identify three-dimensional object candidates 220f and 220g, and a pairing unit that projects the three-dimensional object candidates on a horizontal plane, distinguishes them as a rear face and a side face on a basis of an angle with respect to a depth direction, and performs pairing as the same three-dimensional object when a relation between the rear face and the side face satisfies a predetermined condition.SELECTED DRAWING: Figure 6

    【課題】背面と側面とを適切にペアリングすることで、立体物の特定精度を向上する。【解決手段】車外環境認識装置は、コンピュータが、撮像装置から取得した画像における各ブロックの3次元位置を導出する位置導出部と、ブロック同士をグループ化して立体物候補220f、220gを特定するグループ化部と、立体物候補を水平面に投影し、奥行き方向に対する角度に基づいて背面と側面とに区別し、側面と背面との関係が所定条件を満たせば同一の立体物としてペアリングするペアリング部と、して機能する。【選択図】図6


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    Title :

    VEHICLE EXTERIOR ENVIRONMENT RECOGNITION APPARATUS AND METHOD OF RECOGNIZING EXTERIOR ENVIRONMENT OUTSIDE VEHICLE


    Additional title:

    車外環境認識装置および車外環境認識方法


    Contributors:

    Publication date :

    2020-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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