To enable determination of a planar region and a nonplanar region with a low processing load in a surrounding area monitoring device for a vehicle.SOLUTION: A surrounding area monitoring device 10 for a vehicle comprises: a monocular camera (11) which is mounted on a vehicle traveling on a road surface and captures an image of a surrounding area of the vehicle so as to reflect the road surface; an image storage unit (12) which stores a past captured image captured by the monocular camera; a travel information acquisition unit (13) which acquires travel information on the vehicle; a matrix calculation unit (16) which calculates a homography matrix for the road surface on the basis of the past captured image stored by the image storage unit, the travel information acquired by the travel information acquisition unit, and a positional relation between the road surface, the vehicle, and the monocular camera; and a determination unit (17, 18, and 19) which determines a planar region and a nonplanar region in a present captured image captured by the monocular camera on the basis of a difference between a conversion image obtained by converting the past captured image stored by the image storage unit by the homography matrix calculated by the matrix calculation unit, and the present captured image captured by the monocular camera.SELECTED DRAWING: Figure 2

    【課題】車両の周辺監視装置において、低処理負荷で平面領域と非平面領域とを判定可能とする。【解決手段】車両の周辺監視装置10は、路面上を走行する車両に取り付けられ、車両の周辺を路面が映るように撮影する単眼カメラ(11)と、単眼カメラにより撮影された過去の撮影画像を記憶する画像記憶部(12)と、車両の走行情報を取得する走行情報取得部(13)と、画像記憶部により記憶された過去の撮影画像、走行情報取得部により取得された走行情報、及び路面と車両と単眼カメラとの位置関係に基づいて、路面に対するホモグラフィ行列を算出する行列算出部(16)と、画像記憶部により記憶された過去の撮影画像を、行列算出部により算出されたホモグラフィ行列で変換した変換画像と、単眼カメラにより撮影された現在の撮影画像との差分に基づいて、現在の撮影画像における平面領域と非平面領域とを判定する判定部(17、18、19)と、を備える。【選択図】 図2


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    Title :

    SURROUNDING AREA MONITORING DEVICE FOR VEHICLE


    Additional title:

    車両の周辺監視装置


    Contributors:

    Publication date :

    2024-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen





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