To accurately calculate a distance to an object around an own vehicle.SOLUTION: A distance calculation device 300 comprises: a camera 11 which detects a situation around an own vehicle; an object recognition unit 411 which recognizes an object on the basis of detection data detected by the camera 11; a feature point extraction unit 412 which extracts a feature point included in the detection data detected by the camera 11; an object position recognition unit 413 which recognizes a representative position of a predetermined object on the basis of the distribution of feature points corresponding to the predetermined object in the feature points extracted by the feature point extraction unit 412 when the predetermined object is recognized by the object recognition unit 411; and a distance calculation unit 414 which calculates a distance from the own vehicle to the predetermined object on the basis of the representative position recognized by the object position recognition unit 413.SELECTED DRAWING: Figure 3
【課題】自車両の周囲の物体との距離を精度よく算出する。【解決手段】距離算出装置300は、自車両の周囲の状況を検出するカメラ11と、カメラ11により検出された検出データに基づいて物体を認識する物体認識部411と、カメラ11により検出された検出データに含まれる特徴点を抽出する特徴点抽出部412と、物体認識部411により所定物体が認識されると、特徴点抽出部412により抽出された特徴点のうち所定物体に対応する特徴点の分布に基づいて、所定物体の代表位置を認識する物体位置認識部413と、物体位置認識部413により認識された代表位置に基づいて、自車両から所定物体までの距離を算出する距離算出部414と、を備える。【選択図】図3
DISTANCE CALCULATION DEVICE AND VEHICLE POSITION ESTIMATION DEVICE
距離算出装置および車両位置推定装置
2022-08-22
Patent
Electronic Resource
Japanese
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