To provide an object position detection device that can reduce a processing load and computational resource while utilizing images captured by a wide-angle camera.SOLUTION: An object position detection device includes: an image acquisition unit which acquires imaging data of wide-angle images obtained by imaging surroundings of a vehicle cabin by a wide-angle camera; a region setting unit which sets a region of interest that encloses a region in the wide-angle image where it is assumed that an object exists; a candidate point setting unit which sets multiple candidate points that could serve as candidates of the existence position of the object on or near a boundary line that defines the region of interest; a representative point selection unit which defines a reference point at a prescribed position within the region of interest, applies distortion correction to the reference point and the candidate points, and selects a representative point that is assumed as a ground contact position of the object from the candidate points after distortion correction; a coordinate acquisition unit which acquires the three-dimensional coordinates of the representative point; and an output unit which outputs position information of the ground contact position of the object on the basis of the three-dimensional coordinates.SELECTED DRAWING: Figure 3
【課題】広角カメラで撮像された画像を用いつつも、処理負荷や計算リソースの軽減が可能な物体位置検出装置を提供する。【解決手段】物体位置検出は、車室の周囲の状況を広角カメラで撮像した広角画像の撮像データを取得する画像取得部と、広角画像において物体が存在すると見なせる領域を囲む注目領域を設定する領域設定部と、注目領域を定義する境界線上または境界線の近傍位置に物体の存在位置の候補となり得る複数の候補点を設定する候補点設定部と、注目領域の領域内の所定位置に基準点を定め、当該基準点と前記候補点に対して歪み補正を施し、物体の接地位置と見なせる代表点を歪み補正後の候補点の中から選択する代表点選択部と、代表点の三次元座標を取得する座標取得部と、三次元座標に基づき、物体の接地位置の位置情報を出力する出力部と、を含む。【選択図】図3
OBJECT POSITION DETECTION DEVICE
物体位置検出装置
2024-12-26
Patent
Electronic Resource
Japanese
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