CN104509100B - 三维物体检测装置以及三维物体检测方法 - Google Patents

三维物体检测装置以及三维物体检测方法 Download PDF

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Publication number
CN104509100B
CN104509100B CN201380040042.1A CN201380040042A CN104509100B CN 104509100 B CN104509100 B CN 104509100B CN 201380040042 A CN201380040042 A CN 201380040042A CN 104509100 B CN104509100 B CN 104509100B
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mentioned
dimensional body
vehicle
dimensional object
difference
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Chinese (zh)
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CN104509100A (zh
Inventor
深田修
早川泰久
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/285—Analysis of motion using a sequence of stereo image pairs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional [3D] objects
    • G06V20/653—Three-dimensional [3D] objects by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
    • 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
    • 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
    • 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
    • H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Software Systems (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Closed-Circuit Television Systems (AREA)
CN201380040042.1A 2012-07-27 2013-07-25 三维物体检测装置以及三维物体检测方法 Active CN104509100B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2012-166517 2012-07-27
JP2012166517 2012-07-27
PCT/JP2013/070222 WO2014017600A1 (ja) 2012-07-27 2013-07-25 立体物検出装置および立体物検出方法

Publications (2)

Publication Number Publication Date
CN104509100A CN104509100A (zh) 2015-04-08
CN104509100B true CN104509100B (zh) 2016-06-15

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CN201380040042.1A Active CN104509100B (zh) 2012-07-27 2013-07-25 三维物体检测装置以及三维物体检测方法

Country Status (10)

Country Link
US (1) US9189691B2 (cg-RX-API-DMAC10.html)
EP (1) EP2879385B1 (cg-RX-API-DMAC10.html)
JP (1) JP6020567B2 (cg-RX-API-DMAC10.html)
CN (1) CN104509100B (cg-RX-API-DMAC10.html)
BR (1) BR112015001711B1 (cg-RX-API-DMAC10.html)
IN (1) IN2015KN00385A (cg-RX-API-DMAC10.html)
MX (1) MX337071B (cg-RX-API-DMAC10.html)
MY (1) MY158374A (cg-RX-API-DMAC10.html)
RU (1) RU2570892C9 (cg-RX-API-DMAC10.html)
WO (1) WO2014017600A1 (cg-RX-API-DMAC10.html)

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KR101448411B1 (ko) * 2010-08-19 2014-10-07 닛산 지도우샤 가부시키가이샤 입체물 검출 장치 및 입체물 검출 방법
JP6410949B2 (ja) * 2015-08-19 2018-10-24 三菱電機株式会社 車線認識装置および車線認識方法
US10019805B1 (en) * 2015-09-29 2018-07-10 Waymo Llc Detecting vehicle movement through wheel movement
US10127461B2 (en) 2016-08-12 2018-11-13 Here Global B.V. Visual odometry for low illumination conditions using fixed light sources
US10152635B2 (en) 2017-01-24 2018-12-11 Here Global B.V. Unsupervised online learning of overhanging structure detector for map generation
TWI721324B (zh) * 2018-10-10 2021-03-11 鴻海精密工業股份有限公司 電子裝置及立體物體的判斷方法
EP3839840A1 (en) * 2019-12-19 2021-06-23 Ningbo Geely Automobile Research & Development Co. Ltd. Object management for vehicle loading
CN111243285A (zh) * 2020-01-07 2020-06-05 南京甄视智能科技有限公司 黑暗环境下基于车灯图像识别的车辆套牌自动检测方法和系统
CN111857135A (zh) * 2020-06-30 2020-10-30 北京百度网讯科技有限公司 用于车辆的避障方法、装置、电子设备和计算机存储介质
CN114078246B (zh) * 2020-08-11 2025-07-18 华为技术有限公司 确定检测对象的三维信息的方法及装置
CN117651982A (zh) * 2021-07-16 2024-03-05 株式会社小糸制作所 静止物信息利用装置、程序、静止物信息利用方法、车辆系统以及静止物信息利用系统
CN113836737B (zh) * 2021-09-29 2023-10-27 东风汽车有限公司东风日产乘用车公司 轮胎干涉风险监测方法、装置及设备
JP7727502B2 (ja) * 2021-11-22 2025-08-21 Ａｓｔｅｍｏ株式会社 画像処理装置
CN114312838B (zh) * 2021-12-29 2023-07-28 上海洛轲智能科技有限公司 一种车辆的控制方法、装置及存储介质

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CN1181498A (zh) * 1996-11-04 1998-05-13 三星电子株式会社 告知车辆周围状况的导航装置和控制该装置的方法
CN1980322A (zh) * 2005-12-07 2007-06-13 日产自动车株式会社 物体检测系统和物体检测方法
JP4063144B2 (ja) * 2003-05-15 2008-03-19 日産自動車株式会社 車両用後側方監視装置
CN102288165A (zh) * 2010-06-21 2011-12-21 日产自动车株式会社 移动距离检测装置和移动距离检测方法

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JP2006044560A (ja) * 2004-08-06 2006-02-16 Denso Corp 走行支援誤制御検出システム、車載検出システム及びセンター装置
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JP4991384B2 (ja) * 2007-05-08 2012-08-01 株式会社日立製作所 接近物検知装置及び接近物検知プログラム
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JP5892876B2 (ja) * 2011-07-28 2016-03-23 クラリオン株式会社 車載用環境認識装置

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CN1181498A (zh) * 1996-11-04 1998-05-13 三星电子株式会社 告知车辆周围状况的导航装置和控制该装置的方法
JP4063144B2 (ja) * 2003-05-15 2008-03-19 日産自動車株式会社 車両用後側方監視装置
CN1980322A (zh) * 2005-12-07 2007-06-13 日产自动车株式会社 物体检测系统和物体检测方法
CN102288165A (zh) * 2010-06-21 2011-12-21 日产自动车株式会社 移动距离检测装置和移动距离检测方法

Also Published As

Publication number Publication date
US9189691B2 (en) 2015-11-17
JP6020567B2 (ja) 2016-11-02
MX2015001233A (es) 2015-04-10
IN2015KN00385A (cg-RX-API-DMAC10.html) 2015-07-10
MY158374A (en) 2016-09-26
MX337071B (es) 2016-02-11
CN104509100A (zh) 2015-04-08
RU2570892C1 (ru) 2015-12-20
RU2570892C9 (ru) 2016-10-20
EP2879385B1 (en) 2017-04-26
JPWO2014017600A1 (ja) 2016-07-11
WO2014017600A1 (ja) 2014-01-30
US20150178575A1 (en) 2015-06-25
BR112015001711B1 (pt) 2021-10-26
EP2879385A4 (en) 2015-08-19
BR112015001711A2 (pt) 2019-11-26
EP2879385A1 (en) 2015-06-03

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