CN104685866B - 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
CN104685866B
CN104685866B CN201380040061.4A CN201380040061A CN104685866B CN 104685866 B CN104685866 B CN 104685866B CN 201380040061 A CN201380040061 A CN 201380040061A CN 104685866 B CN104685866 B CN 104685866B
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dimension object
detection
brightness
unit
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Chinese (zh)
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CN104685866A (zh
Inventor
早川泰久
深田修
竹村雅幸
宇田川玲
村松彰二
入江耕太
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Nissan Motor Co Ltd
Faurecia Clarion Electronics Co Ltd
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Clarion Co Ltd
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
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G06T7/0008—Industrial image inspection checking presence/absence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/136—Segmentation; Edge detection involving thresholding
    • 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
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • 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
    • G06T2207/10004—Still image; Photographic image
    • 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
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • 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
    • G06T2207/20224—Image subtraction
    • 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
    • G06T2207/30232—Surveillance
    • 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
    • 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
    • G06T2207/30261—Obstacle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
CN201380040061.4A 2012-07-27 2013-07-26 三维物体检测装置以及三维物体检测方法 Active CN104685866B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2012-166527 2012-07-27
JP2012166527 2012-07-27
PCT/JP2013/070308 WO2014017624A1 (ja) 2012-07-27 2013-07-26 立体物検出装置および立体物検出方法

Publications (2)

Publication Number Publication Date
CN104685866A CN104685866A (zh) 2015-06-03
CN104685866B true CN104685866B (zh) 2018-12-14

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Country Link
US (1) US9558546B2 (enExample)
EP (1) EP2879384B8 (enExample)
JP (1) JP5977827B2 (enExample)
CN (1) CN104685866B (enExample)
BR (1) BR112015001745B1 (enExample)
IN (1) IN2015KN00490A (enExample)
MX (1) MX343203B (enExample)
MY (1) MY170950A (enExample)
RU (1) RU2619059C2 (enExample)
WO (1) WO2014017624A1 (enExample)

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JP5031126B1 (ja) 2011-04-07 2012-09-19 パイオニア株式会社 移動体の周囲状況検知システム
WO2014061123A1 (ja) * 2012-10-17 2014-04-24 富士通株式会社 画像処理装置、画像処理プログラムおよび画像処理方法
JP6245875B2 (ja) * 2013-07-26 2017-12-13 クラリオン株式会社 レンズ汚れ検出装置およびレンズ汚れ検出方法
DE102014203544A1 (de) * 2014-02-27 2015-08-27 Robert Bosch Gmbh Verfahren und Vorrichtung zum Analysieren einer Lichtaussendung eines Scheinwerfers eines Fahrzeugs
JP6337601B2 (ja) * 2014-05-08 2018-06-06 日産自動車株式会社 立体物検出装置
JP6453571B2 (ja) * 2014-07-24 2019-01-16 株式会社Ｓｏｋｅｎ 立体物認識装置
KR101860610B1 (ko) * 2015-08-20 2018-07-02 엘지전자 주식회사 디스플레이 장치 및 이를 포함하는 차량
JP6668895B2 (ja) * 2016-04-01 2020-03-18 株式会社デンソー 走行支援装置
JP6512164B2 (ja) * 2016-04-22 2019-05-15 株式会社デンソー 物体検出装置、物体検出方法
DE102016114168A1 (de) * 2016-08-01 2018-02-01 Connaught Electronics Ltd. Verfahren zum Erfassen eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mit Vorhersage der Bewegung des Objekts, Kamerasystem sowie Kraftfahrzeug
US11238281B1 (en) * 2017-02-27 2022-02-01 Amazon Technologies, Inc. Light source detection in field of view
JP2019029897A (ja) 2017-08-01 2019-02-21 パナソニックＩｐマネジメント株式会社 画像監視装置、画像監視方法および画像監視プログラム
JP6741039B2 (ja) * 2018-04-04 2020-08-19 株式会社デンソー 光測距装置
CN111937002B (zh) * 2018-04-16 2024-08-02 三菱电机株式会社 障碍物检测装置、自动制动装置、障碍物检测方法以及自动制动方法
DE112019007232B4 (de) * 2019-05-20 2023-05-25 Mitsubishi Electric Corporation Zustandsschätzvorrichtung und zustandsschätzverfahren
WO2021166576A1 (ja) * 2020-02-17 2021-08-26 フォルシアクラリオン・エレクトロニクス株式会社 立体物検出装置、車載システム、及び立体物検出方法
JP7187629B1 (ja) * 2021-08-06 2022-12-12 東芝エレベータ株式会社 エレベータの利用者検知システム
JP2023087344A (ja) * 2021-12-13 2023-06-23 トヨタ自動車株式会社 車両用スパッツ装置
JP7790394B2 (ja) * 2023-04-18 2025-12-23 トヨタ自動車株式会社 車両位置認識システム及び車両位置認識方法

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JP2009065360A (ja) * 2007-09-05 2009-03-26 Denso Corp 画像処理装置、車載用画像処理装置、車載用画像表示装置及び車両制御装置
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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JP2002074368A (ja) * 2000-08-25 2002-03-15 Matsushita Electric Ind Co Ltd 移動物体認識追跡装置
JP2002358595A (ja) * 2001-06-01 2002-12-13 Mitsubishi Electric Corp 道路交通流計測装置および道路交通流計測方法
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JP2008219063A (ja) 2007-02-28 2008-09-18 Sanyo Electric Co Ltd 車両周辺監視装置及び方法
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US6137531A (en) * 1997-04-15 2000-10-24 Fujitsu Limited Detecting device for road monitoring
JP2009065360A (ja) * 2007-09-05 2009-03-26 Denso Corp 画像処理装置、車載用画像処理装置、車載用画像表示装置及び車両制御装置
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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Also Published As

Publication number Publication date
EP2879384A1 (en) 2015-06-03
EP2879384B8 (en) 2024-05-01
RU2015106693A (ru) 2016-09-20
MX2015001240A (es) 2016-01-12
RU2619059C2 (ru) 2017-05-11
JPWO2014017624A1 (ja) 2016-07-11
MY170950A (en) 2019-09-20
MX343203B (es) 2016-10-28
WO2014017624A1 (ja) 2014-01-30
JP5977827B2 (ja) 2016-08-24
BR112015001745B1 (pt) 2021-11-23
EP2879384B1 (en) 2024-03-27
IN2015KN00490A (enExample) 2015-07-17
US20150324972A1 (en) 2015-11-12
EP2879384A4 (en) 2016-04-20
US9558546B2 (en) 2017-01-31
BR112015001745A2 (pt) 2018-05-22
CN104685866A (zh) 2015-06-03

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Address after: Saitama Prefecture, Japan

Patentee after: Faurecia Gele Electronics Co.,Ltd.

Country or region after: Japan

Patentee after: NISSAN MOTOR Co.,Ltd.

Address before: Saitama Prefecture, Japan

Patentee before: CLARION Co.,Ltd.

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Patentee before: NISSAN MOTOR Co.,Ltd.

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Address after: Kanagawa Prefecture, Japan

Patentee after: NISSAN MOTOR Co.,Ltd.

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Patentee before: Faurecia Gele Electronics Co.,Ltd.

Country or region before: Japan

Patentee before: NISSAN MOTOR Co.,Ltd.

TR01 Transfer of patent right