To provide a vehicle external environment recognition apparatus for improving the detection accuracy of floating objects.SOLUTION: A vehicle external environment recognition apparatus is provided with an imaging device, one or more processors, and one or more memories connected to the processors. The processor cooperates with a program contained in the memory to perform processing including generating a range image from a plurality of brightness images captured by the imaging device, identifying floating object classes in the brightness images using semantic segmentation, and invalidating the parallax of floating pixels which are pixels corresponding to the floating object class among the pixels of the range image.SELECTED DRAWING: Figure 3

    【課題】浮遊物の検出精度を向上させ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、撮像装置と、1つまたは複数のプロセッサと、プロセッサに接続される1つまたは複数のメモリと、を備える。プロセッサは、メモリに含まれるプログラムと協働し、撮像装置で撮像された複数の輝度画像から距離画像を生成することと、セマンティックセグメンテーションを用いて、輝度画像における浮遊物クラスを特定することと、距離画像の画素のうち、浮遊物クラスに対応する画素である浮遊画素の視差を無効とすることと、を含む処理を実行する。【選択図】図3


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    Title :

    VEHICLE EXTERNAL ENVIRONMENT RECOGNITION APPARATUS


    Additional title:

    車外環境認識装置


    Contributors:

    Publication date :

    2023-04-03


    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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