To provide a vehicle surroundings recognition device which improves accuracy in determining a preceding vehicle.SOLUTION: A vehicle surroundings recognition device performs processing including a step S206 of using semantic segmentation to identify a vehicle class in luminance images captured by an imaging apparatus, a step S202 of generating a depth map from a plurality of luminance images, a step S208 of identifying an ineffective pixel corresponding to the vehicle class, of which the parallax is ineffective, in the depth map, a step S210 of identifying an effective pixel vertically lower than the ineffective pixel, of which the parallax is effective, a step S212 of interpolating the parallax of the ineffective pixel with the parallax of the identified effective pixel, and a step S214 of identifying an object on the basis of the depth map interpolated with the parallax.SELECTED DRAWING: Figure 3

    【課題】先行車両の判定精度を向上する車外環境認識装置を提供する。【解決手段】車外環境認識装置は、セマンティックセグメンテーションを用いて、撮像装置で撮像された輝度画像における車両クラスを特定するステップS206と、複数の輝度画像から距離画像を生成するステップS202と、距離画像における、車両クラスに対応する視差が無効な無効画素を特定するステップS208と、無効画素より鉛直下方における視差が有効な有効画素を特定するステップS210と、無効画素の視差を、特定した前記有効画素の視差で補間するステップS212と、視差が補間された距離画像に基づいて特定物を特定するステップS214と、を含む処理を実行する。【選択図】図3


    Access

    Download


    Export, share and cite



    Title :

    VEHICLE SURROUNDINGS RECOGNITION DEVICE


    Additional title:

    車外環境認識装置


    Contributors:

    Publication date :

    2022-11-25


    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



    VEHICLE SURROUNDINGS RECOGNITION DEVICE

    NGUYEN QUAN / SOUFLAS IOANNIS / YUSUF SYED ADNAN | European Patent Office | 2022

    Free access

    Vehicle-surroundings recognition device

    OGATA TAKEHITO / KIYOHARA MASAHIRO / IRIE KOTA et al. | European Patent Office | 2017

    Free access

    VEHICLE-SURROUNDINGS RECOGNITION DEVICE

    OGATA TAKEHITO / KIYOHARA MASAHIRO / IRIE KOTA et al. | European Patent Office | 2015

    Free access

    VEHICLE-SURROUNDINGS RECOGNITION DEVICE

    OGATA TAKEHITO / KIYOHARA MASAHIRO / IRIE KOTA et al. | European Patent Office | 2020

    Free access

    VEHICLE-MOUNTING VEHICLE-SURROUNDINGS RECOGNITION APPARATUS AND VEHICLE-MOUNTING VEHICLE-SURROUNDINGS RECOGNITION SYSTEM

    TAKEMURA MASAYUKI / MURAMATSU SHOJI / FURUSAWA ISAO et al. | European Patent Office | 2018

    Free access