CN115038990A - 物体识别方法及物体识别装置 - Google Patents

物体识别方法及物体识别装置 Download PDF

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Publication number
CN115038990A
CN115038990A CN202080095068.6A CN202080095068A CN115038990A CN 115038990 A CN115038990 A CN 115038990A CN 202080095068 A CN202080095068 A CN 202080095068A CN 115038990 A CN115038990 A CN 115038990A
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CN
China
Prior art keywords
candidate
boundary position
boundary
point group
group
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Pending
Application number
CN202080095068.6A
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English (en)
Chinese (zh)
Inventor
黑飞朋子
野田邦昭
池上尭史
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.)
Renault SAS
Nissan Motor Co Ltd
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Renault SAS
Nissan Motor Co Ltd
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Application filed by Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Publication of CN115038990A publication Critical patent/CN115038990A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G06T7/70—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
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
    • 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
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • 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
    • G06T2207/10012—Stereo images
    • 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
    • G06T2207/20021—Dividing image into blocks, subimages or windows
    • 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
    • G06T2207/20068—Projection on vertical or horizontal image axis
    • 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
    • G06T2207/30196—Human being; Person
    • 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
CN202080095068.6A 2020-01-31 2020-01-31 物体识别方法及物体识别装置 Pending CN115038990A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2020/000056 WO2021152340A1 (ja) 2020-01-31 2020-01-31 物体認識方法及び物体認識装置

Publications (1)

Publication Number Publication Date
CN115038990A true CN115038990A (zh) 2022-09-09

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CN202080095068.6A Pending CN115038990A (zh) 2020-01-31 2020-01-31 物体识别方法及物体识别装置

Country Status (5)

Country Link
US (1) US20230106443A1 (https=)
EP (1) EP4099060B1 (https=)
JP (1) JPWO2021152340A1 (https=)
CN (1) CN115038990A (https=)
WO (1) WO2021152340A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115713758A (zh) * 2022-11-10 2023-02-24 国能黄骅港务有限责任公司 一种车厢识别方法、系统、装置及存储介质

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* Cited by examiner, † Cited by third party
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JP7704299B2 (ja) * 2022-04-08 2025-07-08 日産自動車株式会社 情報処理方法及び情報処理装置
US12293545B2 (en) * 2023-01-26 2025-05-06 Ford Global Technologies, Llc Occupant head position in vehicle
WO2025046698A1 (ja) * 2023-08-28 2025-03-06 日本電信電話株式会社 点群解析処理装置
US20250111182A1 (en) * 2023-09-29 2025-04-03 Zebra Technologies Corporation Decoupled acquisition/decoding for high-speed indicia reading
CN119648728B (zh) * 2024-11-22 2025-09-23 大连理工大学 基于三维激光点云数据引导的红外图像边缘检测方法

Citations (6)

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JP2003084064A (ja) * 2001-09-12 2003-03-19 Daihatsu Motor Co Ltd 前方車両の認識装置及び認識方法
JP2004280451A (ja) * 2003-03-14 2004-10-07 Matsushita Electric Works Ltd 自律移動装置
WO2011070927A1 (ja) * 2009-12-11 2011-06-16 株式会社トプコン 点群データ処理装置、点群データ処理方法、および点群データ処理プログラム
CN107192994A (zh) * 2016-03-15 2017-09-22 山东理工大学 多线激光雷达海量点云数据快速有效提取及车辆、车道线特征识别方法
JP2018160049A (ja) * 2017-03-22 2018-10-11 パナソニックＩｐマネジメント株式会社 画像認識装置
US20190371056A1 (en) * 2017-02-10 2019-12-05 Voxelgrid Gmbh Device and method for analyzing objects

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JP3230642B2 (ja) * 1995-05-29 2001-11-19 ダイハツ工業株式会社 先行車検出装置
JP2003302470A (ja) * 2002-04-05 2003-10-24 Sogo Jidosha Anzen Kogai Gijutsu Kenkyu Kumiai 歩行者検出装置および歩行者検出方法
JP4900103B2 (ja) * 2007-07-18 2012-03-21 マツダ株式会社 歩行者検出装置
CN110573901A (zh) * 2017-04-28 2019-12-13 深圳市大疆创新科技有限公司 激光传感器和视觉传感器的校准
US10671862B2 (en) * 2018-01-30 2020-06-02 Wipro Limited Method and system for detecting obstacles by autonomous vehicles in real-time
US10852420B2 (en) * 2018-05-18 2020-12-01 Industrial Technology Research Institute Object detection system, autonomous vehicle using the same, and object detection method thereof

Patent Citations (8)

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Publication number Priority date Publication date Assignee Title
JP2003084064A (ja) * 2001-09-12 2003-03-19 Daihatsu Motor Co Ltd 前方車両の認識装置及び認識方法
JP2004280451A (ja) * 2003-03-14 2004-10-07 Matsushita Electric Works Ltd 自律移動装置
US20060184274A1 (en) * 2003-03-14 2006-08-17 Matsushita Electric Works, Ltd. Autonomously moving robot
WO2011070927A1 (ja) * 2009-12-11 2011-06-16 株式会社トプコン 点群データ処理装置、点群データ処理方法、および点群データ処理プログラム
CN107192994A (zh) * 2016-03-15 2017-09-22 山东理工大学 多线激光雷达海量点云数据快速有效提取及车辆、车道线特征识别方法
US20190371056A1 (en) * 2017-02-10 2019-12-05 Voxelgrid Gmbh Device and method for analyzing objects
JP2018160049A (ja) * 2017-03-22 2018-10-11 パナソニックＩｐマネジメント株式会社 画像認識装置
CN110431562A (zh) * 2017-03-22 2019-11-08 松下知识产权经营株式会社 图像识别装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115713758A (zh) * 2022-11-10 2023-02-24 国能黄骅港务有限责任公司 一种车厢识别方法、系统、装置及存储介质
CN115713758B (zh) * 2022-11-10 2024-03-19 国能黄骅港务有限责任公司 一种车厢识别方法、系统、装置及存储介质

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JPWO2021152340A1 (https=) 2021-08-05
US20230106443A1 (en) 2023-04-06
EP4099060A1 (en) 2022-12-07
EP4099060A4 (en) 2023-03-22
EP4099060B1 (en) 2024-05-22
WO2021152340A1 (ja) 2021-08-05
WO2021152340A8 (ja) 2022-06-23

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Application publication date: 20220909