To provide techniques which suppress the influence of an environmental change and enable the detection of a puddle at high precision.SOLUTION: A puddle detection apparatus acquires plural images different in camera positions on a vehicle and including road surfaces, specifies road surface areas in each of the plural images, extracts a feature areas having an RGB value or a luminescence different from the road surfaces from the road surface areas, calculates a first variation of the RGB value or the luminescence of each road surface area between the plural images and a second variation of the RGB value or the luminescence of the feature area, and determines the feature area as a puddle based on a difference between the first variation and the second variation.SELECTED DRAWING: Figure 2
【課題】環境変化の影響を抑えて精度良く水溜まりの検出を可能にする技術を提供する。【解決手段】水溜まり検出装置が、車両に設けられたカメラ撮影位置が異なり路面を含んだ複数の画像を取得し、前記複数の画像のそれぞれにおいて、路面領域を特定し、前記路面領域から前記路面とは異なるRGB値もしくは輝度を有する特徴領域を抽出し、前記複数の画像間における、前記路面領域のRGB値もしくは輝度の第一の変化量と、前記特徴領域のRGB値もしくは輝度の第二の変化量とを算出し、前記第一の変化量と前記第二の変化量の差に基づき前記特徴領域を水溜まりと判定する。【選択図】図2
PUDDLE DETECTION APPARATUS, PUDDLE DETECTION METHOD AND PUDDLE DETECTION PROGRAM
水溜まり検出装置、水溜まり検出方法、及び水溜まり検出プログラム
2024-12-17
Patent
Electronic Resource
Japanese