CN104508725B - 三维物体检测装置和三维物体检测方法 - Google Patents

三维物体检测装置和三维物体检测方法 Download PDF

Info

Publication number
CN104508725B
CN104508725B CN201380039924.6A CN201380039924A CN104508725B CN 104508725 B CN104508725 B CN 104508725B CN 201380039924 A CN201380039924 A CN 201380039924A CN 104508725 B CN104508725 B CN 104508725B
Authority
CN
China
Prior art keywords
lens
dimensional object
state
cleaning
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201380039924.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN104508725A (zh
Inventor
早川泰久
深田修
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of CN104508725A publication Critical patent/CN104508725A/zh
Application granted granted Critical
Publication of CN104508725B publication Critical patent/CN104508725B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/002—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/46—Cleaning windscreens, windows or optical devices using liquid; Windscreen washers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/147—Details of sensors, e.g. sensor lenses
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vascular Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Studio Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Signal Processing (AREA)
CN201380039924.6A 2012-07-27 2013-07-24 三维物体检测装置和三维物体检测方法 Active CN104508725B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2012-166514 2012-07-27
JP2012166514 2012-07-27
PCT/JP2013/070008 WO2014017519A1 (ja) 2012-07-27 2013-07-24 立体物検出装置及び立体物検出方法

Publications (2)

Publication Number Publication Date
CN104508725A CN104508725A (zh) 2015-04-08
CN104508725B true CN104508725B (zh) 2016-11-16

Family

ID=49997328

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380039924.6A Active CN104508725B (zh) 2012-07-27 2013-07-24 三维物体检测装置和三维物体检测方法

Country Status (10)

Country Link
US (1) US9862320B2 (cg-RX-API-DMAC10.html)
EP (1) EP2879114A4 (cg-RX-API-DMAC10.html)
JP (1) JP5900622B2 (cg-RX-API-DMAC10.html)
CN (1) CN104508725B (cg-RX-API-DMAC10.html)
BR (1) BR112015001817B1 (cg-RX-API-DMAC10.html)
IN (1) IN2015KN00314A (cg-RX-API-DMAC10.html)
MX (1) MX346025B (cg-RX-API-DMAC10.html)
MY (1) MY158602A (cg-RX-API-DMAC10.html)
RU (1) RU2572954C1 (cg-RX-API-DMAC10.html)
WO (1) WO2014017519A1 (cg-RX-API-DMAC10.html)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2871629B1 (en) * 2012-07-03 2018-08-15 Clarion Co., Ltd. Vehicle-mounted environment recognition device
JP2014026049A (ja) * 2012-07-25 2014-02-06 Sony Corp クリーニング装置とクリーニング方法および撮像装置
JP6348770B2 (ja) * 2014-05-08 2018-06-27 日産自動車株式会社 カメラ装置および立体物検出装置
JP6435633B2 (ja) * 2014-05-08 2018-12-12 日産自動車株式会社 立体物検出装置及び立体物検出方法
JP6319204B2 (ja) * 2015-06-26 2018-05-09 株式会社デンソー 車両用の前照灯制御装置
JP6922169B2 (ja) * 2016-08-24 2021-08-18 ソニーグループ株式会社 情報処理装置および方法、車両、並びに情報処理システム
JP2018116159A (ja) * 2017-01-18 2018-07-26 株式会社デンソーテン 異物除去制御装置、異物除去制御方法、及び、異物除去制御プログラム
JP7165659B2 (ja) * 2017-07-24 2022-11-04 株式会社小糸製作所 車両用クリーナシステムおよび車両用クリーナ制御装置
JP7055619B2 (ja) * 2017-11-14 2022-04-18 株式会社デンソーテン 気体噴出装置および気体噴出方法
EP3763582B1 (en) * 2018-03-07 2024-04-24 Koito Manufacturing Co., Ltd. Cleaner-equipped sensor system for vehicle
JP7037117B2 (ja) * 2018-04-16 2022-03-16 トヨタ自動車株式会社 運転支援装置
JP7216526B2 (ja) * 2018-11-21 2023-02-01 株式会社Subaru 車外環境認識装置および車外環境認識方法
CN111324756A (zh) * 2018-12-17 2020-06-23 上海博泰悦臻电子设备制造有限公司 车辆及其基于实物产生装饰动画的方法和系统
US10771665B1 (en) * 2019-02-27 2020-09-08 Ford Global Technologies, Llc Determination of illuminator obstruction by known optical properties
CN113647097B (zh) * 2019-03-01 2024-08-06 株式会社日立制作所 遗留物检测装置及遗留物检测方法
CN112017239B (zh) * 2019-05-31 2022-12-20 北京市商汤科技开发有限公司 确定目标对象朝向方法、智能驾驶控制方法和装置及设备
JP7243480B2 (ja) * 2019-06-25 2023-03-22 株式会社デンソー 車載センサ洗浄装置
JP7293039B2 (ja) * 2019-08-16 2023-06-19 キヤノン株式会社 撮像装置およびその制御方法
JP7337602B2 (ja) * 2019-08-28 2023-09-04 キヤノン株式会社 撮像装置、コンピュータプログラム及び記憶媒体
FR3112741B1 (fr) * 2020-07-22 2022-07-15 Valeo Systemes Dessuyage Dispositif de nettoyage d’un système de détection
EP3968274B1 (en) * 2020-09-14 2025-03-12 Tata Consultancy Services Limited Method and system for asset inspection using unmanned aerial vehicles
JP7481985B2 (ja) 2020-09-30 2024-05-13 株式会社小松製作所 作業機械
CN112804429B (zh) * 2021-01-07 2022-06-03 中国民用航空飞行学院 一种机场障碍物筛查装置
RU212174U1 (ru) * 2021-08-27 2022-07-11 Общество С Ограниченной Ответственностью "Технологии Распознавания" Мобильное устройство для фотовидеофиксации дорожной ситуации и нарушений пдд
JP7831129B2 (ja) * 2022-05-13 2026-03-17 株式会社デンソー センサ洗浄装置、センサ洗浄方法及びセンサ洗浄プログラム
DE102024118043A1 (de) * 2024-06-26 2025-12-31 Claas Selbstfahrende Erntemaschinen Gmbh Landwirtschaftliche Arbeitsmaschine und Verfahren

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09292656A (ja) 1996-02-27 1997-11-11 Fuji Photo Optical Co Ltd カメラレンズ部の水滴除去装置
CN2714389Y (zh) * 2004-08-04 2005-08-03 刘长春 多功能车辆后视镜防雨保洁装置
US8553088B2 (en) * 2005-11-23 2013-10-08 Mobileye Technologies Limited Systems and methods for detecting obstructions in a camera field of view
JP4978484B2 (ja) 2007-02-16 2012-07-18 セイコーエプソン株式会社 防水型電子機器
JP2008219063A (ja) 2007-02-28 2008-09-18 Sanyo Electric Co Ltd 車両周辺監視装置及び方法
JP2008227646A (ja) 2007-03-09 2008-09-25 Clarion Co Ltd 障害物検知装置
JP2009286216A (ja) * 2008-05-28 2009-12-10 Denso Corp 風圧発生装置
US20120117745A1 (en) * 2009-09-29 2012-05-17 Denso Corporation On-board optical sensor cover and on-board optical sensor apparatus
RU2455177C2 (ru) * 2009-09-29 2012-07-10 Денсо Корпорейшн Оболочка бортового оптического сенсора и устройство бортового оптического сенсора
RU2424925C1 (ru) * 2009-11-06 2011-07-27 Осман Мирзаевич Мирза Способ очистки входного элемента видеокамеры, установленной на транспортном средстве
JP2011245989A (ja) 2010-05-27 2011-12-08 Asmo Co Ltd 車載カメラ用ウォッシャノズル、車載カメラ、及び車両用ウォッシャ装置
JP5251927B2 (ja) * 2010-06-21 2013-07-31 日産自動車株式会社 移動距離検出装置及び移動距離検出方法
KR101448411B1 (ko) 2010-08-19 2014-10-07 닛산 지도우샤 가부시키가이샤 입체물 검출 장치 및 입체물 검출 방법
JP5516382B2 (ja) * 2010-12-20 2014-06-11 株式会社デンソー 車載光学センサの洗浄システム

Also Published As

Publication number Publication date
US9862320B2 (en) 2018-01-09
CN104508725A (zh) 2015-04-08
BR112015001817A2 (pt) 2019-12-31
MY158602A (en) 2016-10-18
US20150145956A1 (en) 2015-05-28
WO2014017519A1 (ja) 2014-01-30
IN2015KN00314A (cg-RX-API-DMAC10.html) 2015-07-10
JP5900622B2 (ja) 2016-04-06
MX346025B (es) 2017-03-02
EP2879114A4 (en) 2015-10-21
BR112015001817B1 (pt) 2022-11-16
RU2572954C1 (ru) 2016-01-20
MX2015001241A (es) 2015-04-10
EP2879114A1 (en) 2015-06-03
JPWO2014017519A1 (ja) 2016-07-11

Similar Documents

Publication Publication Date Title
CN104508725A (zh) 三维物体检测装置和三维物体检测方法
CN104508726B (zh) 三维物体检测装置和三维物体检测方法
CN104507765B (zh) 摄像机装置、三维物体检测装置以及镜头清洗方法
JP5859652B2 (ja) 水滴検出装置及び水滴検出装置を用いた立体物検出装置
JP6348770B2 (ja) カメラ装置および立体物検出装置
JP5896027B2 (ja) 立体物検出装置及び立体物検出方法
US9773177B2 (en) Surrounding environment recognition device
US10142595B2 (en) Driving assistance device and method of detecting vehicle adjacent thereto
CN104012081B (zh) 三维物体检测装置
JP6260444B2 (ja) カメラ装置及びレンズ洗浄方法
CN104508728A (zh) 三维物体检测装置
JP6435633B2 (ja) 立体物検出装置及び立体物検出方法
CN102529832A (zh) 车辆技¡风玻璃上之实时警示系统及其执行方法

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant