To provide an object position estimation device for accurately estimating a position of a target object even when a road surface is inclined.SOLUTION: An object position estimation device includes: a storage device which stores imaging information indicating a captured image around a vehicle, position information indicating an absolute position of a vehicle, and topography information indicating an absolute position of a road surface; and a processor for performing object position estimation processing to estimate an absolute position of a target object. In object position estimation processing, a rectangular object detection frame is given around a target object detected from a captured image, and topography information is acquired concerning multiple topographic points arranged at a predetermined interval within a topography information acquisition range. Then, multiple topographic points are projected on a captured image so as to select a lower end topographic point group in the neighborhood of a lower end of an object detection frame from the projected multiple topographic points. Thus, an absolute position of a target object is calculated based on topography information corresponding to a selected lower end topographic point group.SELECTED DRAWING: Figure 6

    【課題】路面の傾きがある場合であっても対象物体の位置を精度よく推定することができる物体位置推定装置を提供する。【解決手段】物体位置推定装置は、車両の周辺の撮像画像を示す撮像情報、車両の絶対位置を示す位置情報、及び路面の絶対位置を示す地形情報が格納される記憶装置と、対象物体の絶対位置を推定する物体位置推定処理を行うプロセッサと、を備える。物体位置推定処理では、撮像画像から検出された対象物体の周囲に矩形の物体検出枠が付与され、地形情報取得範囲内に所定の間隔で配置された複数の地形点における地形情報が取得される。そして、複数の地形点が撮像画像に投影され、投影された複数の地形点の中から物体検出枠の下端の近傍の下端地形点群が選択される。そして、選択された下端地形点群に対応する地形情報に基づいて、対象物体の絶対位置が算出される。【選択図】図6


    Access

    Download


    Export, share and cite



    Title :

    OBJECT POSITION ESTIMATION DEVICE


    Additional title:

    物体位置推定装置


    Contributors:

    Publication date :

    2021-02-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    OBJECT POSITION ESTIMATION DEVICE

    HATTORI YOSUKE / IZUHARA HIDETSUGU | European Patent Office | 2015

    Free access

    Position estimation system, position estimation device, and moving object

    OGUNI TEPPEI / KOUMURA YUSUKE | European Patent Office | 2022

    Free access

    POSITION ESTIMATION SYSTEM, POSITION ESTIMATION DEVICE, FLYING OBJECT, POSITION ESTIMATION PROGRAM, AND POSITION ESTIMATION METHOD

    KUMADA MASAYUKI / CHIBA TSUYOSHI / LOPES RAPHAEL JULIEN CLEMENT | European Patent Office | 2021

    Free access

    POSITION ESTIMATION DEVICE, POSITION ESTIMATION METHOD, POSITION ESTIMATION PROGRAM

    ODA ATSUSHI / KATSUTA KEIICHI / KAWAMATA YUKIHIRO | European Patent Office | 2020

    Free access