To enable accurate detection of a vehicle even when an image indicating light-receiving intensity of reflection light is used for detection of the vehicle.SOLUTION: A vehicle detection device includes: an image acquisition unit 401 that acquires a reflection light image indicating an intensity distribution of reflection light and a background light image indicating an intensity distribution of ambient light; a discriminately-detection unit 402 that detects, from the background light image, a vehicle region and a part region in a manner of discriminating them from each other; an intensity identification unit 405 that identifies a level of light intensity of each of the background light image and the reflection light image for the vehicle region detected by the discrimination detection unit 402; an adequacy determination unit 406 that determines adequacy of an arrangement of the part region from the intensity distribution in the reflection light image for the part region detected by the discrimination detection unit 402; and a vehicle detection unit 407 that detects a vehicle by using the level of the light intensity of each of the background light image and the reflection light image, and the adequacy of the arrangement of the part region.SELECTED DRAWING: Figure 2
【課題】反射光の受光強度を表す画像を車両の検出に用いる場合であっても、車両を精度良く検出することを可能にする。【解決手段】反射光の強度分布を表す反射光画像と、環境光の強度分布を表す背景光画像とを取得する画像取得部401と、背景光画像から車両領域とパーツ領域とを区別して検出する区別検出部402と、区別検出部402で検出した車両領域について、背景光画像と反射光画像とのそれぞれの光強度の高低を特定する強度特定部405と、区別検出部402で検出したパーツ領域について、反射光画像での強度分布から、パーツ領域の配置の妥当性を判断する妥当性判断部406と、背景光画像と反射光画像とのそれぞれの光強度の高低、及びパーツ領域の配置の妥当性を用いて、車両を検出する車両検出部407とを備える。【選択図】図2
VEHICLE DETECTION DEVICE, VEHICLE DETECTION METHOD AND VEHICLE DETECTION PROGRAM
車両検出装置、車両検出方法、及び車両検出プログラム
2023-04-03
Patent
Electronic Resource
Japanese
VEHICLE DETECTION DEVICE, VEHICLE DETECTION METHOD, AND VEHICLE DETECTION PROGRAM
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