To provide a vehicle image processing device which reduces a processing load required for detection of a road abnormality.SOLUTION: A vehicle image processing device 500 comprises: an imaging unit 102 which acquires a photographed image 301; a vanishing point estimation unit 201 which estimates a vanishing point; a feature point calculation unit 204 which extracts a feature point from the photographed image 301; a candidate object region detection unit 203 which extracts a candidate object region 310; a candidate feature point extraction unit 207a which extracts a candidate feature point; a road surface feature point extraction unit 207c which extracts a road surface feature point; a candidate flow calculation unit 207b which calculates a candidate flow; a road surface flow calculation unit 207d which calculates a road surface flow; and a road surface flow determination unit 207j which determines the existence of a road abnormality in the candidate object region 310 on the basis of the vanishing point, the road surface flow and the candidate flow.SELECTED DRAWING: Figure 2
【課題】道路異常の検出に要する処理負荷が低減された車両用画像処理装置を提供する。【解決手段】車両用画像処理装置500は、撮像画像301を取得する撮像部102と、消失点を推定する消失点推定部201と、撮像画像301から特徴点を抽出する特徴点算出部204と、候補対象領域310を抽出する候補対象領域検出部203と、候補特徴点を抽出する候補特徴点抽出部207aと、路面特徴点を抽出する路面特徴点抽出部207cと、候補フローを算出する候補フロー算出部207bと、路面フローを算出する路面フロー算出部207dと、消失点、路面フローおよび候補フローに基づき候補対象領域310内の道路異常の存在を判定する路面フロー判定部207jと、を備える。【選択図】図2
VEHICLE IMAGE PROCESSING DEVICE AND VEHICLE IMAGE PROCESSING METHOD
車両用画像処理装置および車両用画像処理方法
2023-07-20
Patent
Electronic Resource
Japanese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / E01F ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE , Zusätzliche Baumaßnahmen, wie die Ausstattung von Straßen oder die bauliche Ausbildung von Bahnsteigen, Landeplätzen für Hubschrauber, Wegweisern, Schneezäunen oder dgl. / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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