To provide an obstacle detection technique capable of accurately correcting a position of an object by accurately estimating a road surface height and accurately detecting an obstacle.SOLUTION: An obstacle detection device 10 comprises: an information acquisition unit 21 which acquires a photographed image of a periphery of a vehicle from an imaging device 30; a three-dimensional estimation unit 22 which estimates a three-dimensional position of an object in the periphery of the vehicle by creating a three-dimensional estimation image expressing a three-dimensional position of a feature point on the photographed image; an image classification unit 23 which creates an attribute image obtained by classifying the object on the photographed image into one or more classes including at least a road surface class; a road surface point extraction unit 24 which extracts a road surface point being a feature point associated with the road surface class by combining the three-dimensional estimation image and the attribute image and associating the feature point with the class; a road surface height estimation unit 26 which estimates the height of the road surface of the periphery of the vehicle on the basis of the road surface point; a correction unit 27 which corrects the three-dimensional position of the object in the periphery of the vehicle on the basis of the height of the road surface; and an obstacle detection unit 28 which detects an obstacle on the basis of the three-dimensional position of the object in the periphery of the vehicle.SELECTED DRAWING: Figure 1
【課題】路面高さを精度よく推定して物体の位置を精度よく補正し、障害物を精度よく検出できる障害物検出技術を提供する。【解決手段】障害物検出装置10は、撮像装置30から車両の周囲の撮像画像を取得する情報取得部21と、撮像画像上の特徴点の3次元位置を表す3次元推定画像を作成し車両の周囲の物体の3次元位置を推定する3次元推定部22と、撮像画像上の物体を少なくとも路面クラスを含む1以上のクラスに分類した属性画像を作成する画像分類部23と、3次元推定画像と属性画像とを融合して特徴点とクラスとを対応付けし路面クラスに対応付けられた特徴点である路面点を抽出する路面点抽出部24と、路面点に基づいて車両の周囲の路面の高さを推定する路面高さ推定部26と、路面の高さに基づいて車両の周囲の物体の3次元位置を補正する補正部27と、車両の周囲の物体の3次元位置に基づいて障害物を検出する障害物検出部28とを備える。【選択図】 図1
OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION METHOD AND OBSTACLE DETECTION PROGRAM
障害物検出装置、障害物検出方法および障害物検出プログラム
2023-03-22
Patent
Electronic Resource
Japanese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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