To provide an outside recognition system capable of upgrading precision in calculating a distance to a detection object without the necessity of adding an external range-finding sensor.SOLUTION: An outside recognition system includes: an image acquisition unit that acquires an image of a camera sensor which images an outside; a sensor information acquisition unit that acquires sensor information collected by a sensor which detects information concerning a current posture of the camera sensor; a camera posture parameter calculation unit that calculates at least one of camera posture parameters which are defined with a camera pitch angle, a camera roll angle, and a camera yaw angle respectively and used to compensate the current posture of the camera sensor with respect to a predetermined reference, on the basis of the sensor information acquired by the sensor information acquisition unit; and an image transformation unit that performs geometric image transformation on an image, which is acquired by the image acquisition unit, on the basis of the camera posture parameter calculated by the camera posture parameter calculation unit.SELECTED DRAWING: Figure 1
【課題】外部の測距センサを追加することなく、検出物体までの距離の計算精度を高めることのできる外界認識装置を提供する。【解決手段】外界認識装置は、外界を撮影するカメラセンサの画像を取得する画像取得部と、カメラセンサの現在の姿勢に関連する情報を検出するセンサから収集されるセンサ情報を取得するセンサ情報取得部と、センサ情報取得部で取得されたセンサ情報に基づいて、予め決められた基準に対してカメラセンサの現在の姿勢を補正する、カメラピッチ角、カメラロール角及びカメラヨー角で定義されるカメラ姿勢パラメータの少なくとも一つを算出するカメラ姿勢パラメータ算出部と、カメラ姿勢パラメータ算出部で算出されたカメラ姿勢パラメータに基づいて、画像取得部で取得された画像に対して幾何学的画像変換を行う画像変換部と、を備える。【選択図】図1
OUTSIDE RECOGNITION SYSTEM
外界認識装置
2020-06-04
Patent
Electronic Resource
Japanese
OUTSIDE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE ENVIRONMENT RECOGNITION SYSTEM
European Patent Office | 2022
|OUTSIDE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE ENVIRONMENT RECOGNITION METHOD
European Patent Office | 2022
|OUTSIDE ENVIRONMENT RECOGNITION DEVICE AND OUTSIDE ENVIRONMENT RECOGNITION METHOD
European Patent Office | 2023
|