To provide an on-road obstacle detecting device capable of improving detection accuracy of the on road obstacle than the case for estimating the on-road obstacle from a semantic label, and an on-road obstacle detecting method, and on-road obstacle detecting program thereof.SOLUTION: An on-road obstacle detecting device 10 includes: a semantic label estimation unit 14 which estimates a semantic label for each pixel of an image by using a previously learned discriminator, and generates a semantic label image; an original image estimation unit 16 which restores an original image from the semantic label image generated by the semantic label estimation unit 14; a difference calculation unit 18 which calculates a difference between the restored image restored by the original image estimation unit 16 and the original image; and an on-road obstacle detecting unit 20 which detects the on-road obstacle on the basis of the calculation result of the difference calculation unit 18.SELECTED DRAWING: Figure 1

    【課題】意味的ラベルから路上障害物を推定する場合よりも、路上障害物の検知精度を向上可能な路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラムを提供することを目的とする。【解決手段】路上障害物検知装置10は、予め学習された識別器を用いて画像の画素毎に意味的ラベルを推定して、意味的ラベル画像を生成する意味的ラベル推定部14と、意味的ラベル推定部14によって生成された意味的ラベル画像から元画像を復元する元画像推定部16と、元画像推定部16によって復元された復元画像と、元画像との差分を算出する差分算出部18と、差分算出部18の算出結果に基づいて、路上障害物を検知する路上障害物検出部20と、を含む。【選択図】図1


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    Title :

    ON-ROAD OBSTACLE DETECTING DEVICE, ON-ROAD OBSTACLE DETECTING METHOD, AND ON-ROAD OBSTACLE DETECTING PROGRAM


    Additional title:

    路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム


    Contributors:

    Publication date :

    2021-04-30


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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