CN106461403B - 物体检测装置及物体检测方法 - Google Patents

物体检测装置及物体检测方法 Download PDF

Info

Publication number
CN106461403B
CN106461403B CN201480079086.XA CN201480079086A CN106461403B CN 106461403 B CN106461403 B CN 106461403B CN 201480079086 A CN201480079086 A CN 201480079086A CN 106461403 B CN106461403 B CN 106461403B
Authority
CN
China
Prior art keywords
vehicle
error
self
unit
detection
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
CN201480079086.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN106461403A (zh
Inventor
山井大贵
西内秀和
安藤敏之
佐藤宏
松尾治夫
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 CN106461403A publication Critical patent/CN106461403A/zh
Application granted granted Critical
Publication of CN106461403B publication Critical patent/CN106461403B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/98—Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
    • 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
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • 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
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)
  • Instructional Devices (AREA)
CN201480079086.XA 2014-05-20 2014-05-20 物体检测装置及物体检测方法 Active CN106461403B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/063351 WO2015177865A1 (ja) 2014-05-20 2014-05-20 物標検出装置及び物標検出方法

Publications (2)

Publication Number Publication Date
CN106461403A CN106461403A (zh) 2017-02-22
CN106461403B true CN106461403B (zh) 2019-02-15

Family

ID=54553563

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480079086.XA Active CN106461403B (zh) 2014-05-20 2014-05-20 物体检测装置及物体检测方法

Country Status (8)

Country Link
US (1) US9767372B2 (https=)
EP (1) EP3147629B1 (https=)
JP (1) JP6222353B2 (https=)
CN (1) CN106461403B (https=)
BR (1) BR112016026372B1 (https=)
MX (1) MX355397B (https=)
RU (1) RU2633641C1 (https=)
WO (1) WO2015177865A1 (https=)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6361366B2 (ja) * 2014-08-18 2018-07-25 株式会社デンソー 物体認識装置
EP3104189B1 (en) * 2015-06-11 2020-09-30 Veoneer Sweden AB Misalignment estimation for a vehicle radar system
JP6756101B2 (ja) * 2015-12-04 2020-09-16 トヨタ自動車株式会社 物体認識装置
JP6380422B2 (ja) * 2016-02-05 2018-08-29 トヨタ自動車株式会社 自動運転システム
WO2018020588A1 (ja) * 2016-07-26 2018-02-01 日産自動車株式会社 自己位置推定方法及び自己位置推定装置
JPWO2018212280A1 (ja) * 2017-05-19 2020-03-19 パイオニア株式会社 測定装置、測定方法およびプログラム
DE102017220139A1 (de) * 2017-11-13 2019-05-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bereitstellen einer Position wenigstens eines Objekts
CN111936820A (zh) * 2018-03-30 2020-11-13 丰田自动车欧洲公司 用于调整车辆外部位置信息的系统和方法
US10839522B2 (en) * 2018-05-11 2020-11-17 Toyota Research Institute, Inc. Adaptive data collecting and processing system and methods
EP3904995A4 (en) * 2018-12-28 2022-02-23 Panasonic Intellectual Property Management Co., Ltd. LOCATION DEVICE
CN112149659B (zh) * 2019-06-27 2021-11-09 浙江商汤科技开发有限公司 定位方法及装置、电子设备和存储介质
JP7227112B2 (ja) * 2019-09-27 2023-02-21 日立Astemo株式会社 物体検出装置、走行制御システム、および走行制御方法
BR112022008335A2 (pt) * 2019-11-12 2022-07-26 Nissan Motor Método de reconhecimento de sinal de trânsito e dispositivo de reconhecimento de sinal de trânsito
EP3825731B1 (de) * 2019-11-21 2022-01-05 Sick Ag Optoelektronischer sicherheitssensor und verfahren zur sicheren bestimmung der eigenen position
EP3929613A1 (en) * 2020-06-22 2021-12-29 Carnegie Robotics, LLC A method for navigating a movable device along an inclined surface
US11935292B2 (en) 2020-06-22 2024-03-19 Carnegie Robotics, Llc Method and a system for analyzing a scene, room or venue
EP3988899B1 (en) * 2020-10-23 2024-05-22 Atlantic Inertial Systems Limited Terrain referenced navigation system
JP2023111192A (ja) * 2022-01-31 2023-08-10 本田技研工業株式会社 画像処理装置、移動体制御装置、画像処理方法、およびプログラム
CN115993089B (zh) * 2022-11-10 2023-08-15 山东大学 基于pl-icp的在线四舵轮agv内外参标定方法
KR102731628B1 (ko) * 2024-03-04 2024-11-18 국방과학연구소 관성항법 장치의 자세 오차 보정 방법 및 시스템

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005038402A1 (ja) * 2003-10-21 2005-04-28 Waro Iwane ナビゲーション装置
WO2008075438A1 (ja) * 2006-12-21 2008-06-26 Pioneer Corporation ナビゲーション装置、マップマッチング方法、及び、マップマッチングプログラム
CN101346603A (zh) * 2006-05-17 2009-01-14 丰田自动车株式会社 对象物识别装置
JP2009259215A (ja) * 2008-03-18 2009-11-05 Zenrin Co Ltd 路面標示地図生成方法
CN103201593A (zh) * 2011-06-13 2013-07-10 松下电器产业株式会社 噪声模式取得装置以及具备该噪声模式取得装置的位置检测装置
CN103210279A (zh) * 2011-11-15 2013-07-17 松下电器产业株式会社 位置推测装置、位置推测方法以及集成电路

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2526876B2 (ja) * 1986-11-17 1996-08-21 日本電装株式会社 車両走行位置表示装置
RU2109344C1 (ru) * 1993-08-06 1998-04-20 Николай Николаевич Токарев Способ обнаружения движущихся целей и устройство для его осуществления
JP3449240B2 (ja) * 1998-09-24 2003-09-22 株式会社デンソー 車両用現在位置検出装置、車両用現在位置表示装置、ナビゲーション装置および記録媒体
JP4763250B2 (ja) * 2004-04-09 2011-08-31 株式会社デンソー 物体検出装置
JP2008501984A (ja) * 2004-06-07 2008-01-24 シャープ株式会社 情報表示制御装置、ナビゲーション装置、情報表示制御装置の制御方法、情報表示制御装置の制御プログラム、およびコンピュータ読取可能な記録媒体
WO2006121088A1 (ja) * 2005-05-10 2006-11-16 Olympus Corporation 画像処理装置、画像処理方法および画像処理プログラム
JP4631750B2 (ja) * 2006-03-06 2011-02-16 トヨタ自動車株式会社 画像処理システム
JP5162103B2 (ja) * 2006-05-15 2013-03-13 トヨタ自動車株式会社 支援制御装置
EP1906339B1 (en) * 2006-09-01 2016-01-13 Harman Becker Automotive Systems GmbH Method for recognizing an object in an image and image recognition device
JP2008287572A (ja) * 2007-05-18 2008-11-27 Sumitomo Electric Ind Ltd 車両運転支援システム、運転支援装置、車両及び車両運転支援方法
JP4453775B2 (ja) * 2008-06-27 2010-04-21 トヨタ自動車株式会社 物体検出装置
JP5372680B2 (ja) * 2009-09-24 2013-12-18 日立オートモティブシステムズ株式会社 障害物検知装置
US9797981B2 (en) * 2012-03-06 2017-10-24 Nissan Motor Co., Ltd. Moving-object position/attitude estimation apparatus and moving-object position/attitude estimation method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005038402A1 (ja) * 2003-10-21 2005-04-28 Waro Iwane ナビゲーション装置
CN101346603A (zh) * 2006-05-17 2009-01-14 丰田自动车株式会社 对象物识别装置
WO2008075438A1 (ja) * 2006-12-21 2008-06-26 Pioneer Corporation ナビゲーション装置、マップマッチング方法、及び、マップマッチングプログラム
JP2009259215A (ja) * 2008-03-18 2009-11-05 Zenrin Co Ltd 路面標示地図生成方法
CN103201593A (zh) * 2011-06-13 2013-07-10 松下电器产业株式会社 噪声模式取得装置以及具备该噪声模式取得装置的位置检测装置
CN103210279A (zh) * 2011-11-15 2013-07-17 松下电器产业株式会社 位置推测装置、位置推测方法以及集成电路

Also Published As

Publication number Publication date
US9767372B2 (en) 2017-09-19
CN106461403A (zh) 2017-02-22
RU2633641C1 (ru) 2017-10-16
JPWO2015177865A1 (ja) 2017-04-20
JP6222353B2 (ja) 2017-11-08
EP3147629A1 (en) 2017-03-29
MX355397B (es) 2018-04-18
BR112016026372A2 (https=) 2017-08-15
WO2015177865A1 (ja) 2015-11-26
MX2016014733A (es) 2017-03-06
EP3147629B1 (en) 2019-07-10
US20170177958A1 (en) 2017-06-22
BR112016026372B1 (pt) 2022-03-03
EP3147629A4 (en) 2017-04-05

Similar Documents

Publication Publication Date Title
CN106461403B (zh) 物体检测装置及物体检测方法
TWI693422B (zh) 自然場景中的整合感測器校準
JP6656886B2 (ja) 情報処理装置、制御方法、プログラム及び記憶媒体
JP4814669B2 (ja) ３次元座標取得装置
KR101220527B1 (ko) 센서 시스템, 이를 이용하는 환경 지도 작성 시스템 및 방법
CN110832275A (zh) 基于双目图像更新高分辨率地图的系统和方法
JP2022518911A (ja) 乗り物のセンサとカメラアレイからの構造化された地図データの生成
JP2016057108A (ja) 演算装置、演算システム、演算方法およびプログラム
CN105480227B (zh) 主动驾驶技术中基于红外雷达与视频图像信息融合的方法
JP2009074859A (ja) 運動計測装置及び位置計測装置
JP5278108B2 (ja) 移動体検出システム及び移動体検出方法
JP2014137321A (ja) 位置座標変換システム、位置座標変換方法、車載装置、世界座標計測装置および位置座標変換プログラム
JPWO2020039937A1 (ja) 位置座標推定装置、位置座標推定方法およびプログラム
US20190250632A1 (en) Vehicle map-data gathering system and method
JP2009074861A (ja) 移動量計測装置及び位置計測装置
CN112146620B (zh) 目标物体的测距方法及装置
KR101319525B1 (ko) 이동 로봇을 이용하여 목표물의 위치 정보를 제공하기 위한 시스템
JP2018084492A (ja) 自己位置推定方法及び自己位置推定装置
JP2021081272A (ja) 位置推定装置および位置推定用コンピュータプログラム
JP5762320B2 (ja) 走行制御システム及び走行制御方法
CN110207715B (zh) 车辆定位的修正方法及修正系统
KR100901312B1 (ko) 자율이동플랫폼의 지형데이터 생성 장치, 이를 구비하는 자율이동플랫폼 및 자율이동플랫폼의 지형데이터 생성 방법
JP5587250B2 (ja) 測距装置
JP2015215299A (ja) 対象物位置推定装置
KR101319526B1 (ko) 이동 로봇을 이용하여 목표물의 위치 정보를 제공하기 위한 방법

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant