A parallax image in which a parallax is associated with each pixel is acquired from an image captured by a stereo camera. The parallax is voted to a two-dimensional matrix. A line is extracted from a coordinate system in which an X-axis indicates the parallax and a Y-axis indicates the pixel in the vertical direction. In the case where a first line and a second line are detected, an X-coordinate of the start point coordinates of the second line is larger than an X-coordinate of end point coordinates of the first line, and the difference between the slope of the first line and the slope of the second line falls within a permissible range, a determination section determines that a low position is present at a position farther from the movable body than a position in real space corresponding to a Y-coordinate of start point coordinates.
Position detection apparatus and position detection method
2021-01-26
Patent
Electronic Resource
English
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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