To provide an obstacle detection device capable of improving accuracy of obstacle detection.SOLUTION: An obstacle detection device includes: a photographing device 11 which is installed in a vehicle and photographs image data outside the vehicle; and a mirror 12 which is installed in the vehicle and reflects the same range as at least a part of a region directly photographed by the photographing device 11. The photographing device and the mirror are arranged so as to include a direct photographing region in which the outside of the vehicle is directly photographed by the photographing device and a mirror photographing region to be a mirror image of the mirror in the image data. The obstacle detection device further includes: a feature point calculation section 13 which calculates a first feature point to be a feature point of an object included in the direct photographing region and a second feature point to be a feature point of an object included in the mirror photographing region, of the image data; a correspondence calculation section 14 which calculates correspondence of the calculated first feature point and second feature point; a three-dimensional calculation section 15 which calculates three-dimensional data of the object from the calculated correspondence; and a specification section 16 which specifies an obstacle in the traveling of the vehicle from the calculated three-dimensional data.SELECTED DRAWING: Figure 1

    【課題】障害物の検知の精度を向上させることができる障害物検知装置を提供する。【解決手段】障害物検知装置は、車両に設置され、車両の外部の画像データを撮影する撮影装置11と、車両に設置され、撮影装置11によって直接撮影される領域の少なくとも一部と同一の範囲を写す鏡12とを備え、撮影装置及び鏡は、画像データに撮影装置によって車両の外部が直接撮影された直接撮影領域と、鏡の鏡像である鏡撮影領域とが含まれるように配置され、画像データのうち、直接撮影領域に含まれる物体の特徴点である第1特徴点と、鏡撮影領域に含まれる物体の特徴点である第2特徴点とを算出する特徴点算出部13と、算出された第1特徴点と前記第2特徴点との対応を算出する対応算出部14と、算出された対応から物体に関する三次元データを算出する三次元算出部15と、算出された三次元データから車両の走行における障害物を特定する特定部16とを備える。【選択図】図1


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    Title :

    OBSTACLE DETECTION DEVICE, AUTOMOBILE, AND OBSTACLE DETECTION METHOD


    Additional title:

    障害物検知装置、自動車及び障害物検知方法


    Contributors:

    Publication date :

    2020-10-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G03B APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM , Geräte oder Anordnungen zum Aufnehmen, Projizieren oder Betrachten von Fotografien / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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