JP2016144110A - 車体外部移動物体検知システム - Google Patents
車体外部移動物体検知システム Download PDFInfo
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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
- H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/254—Analysis of motion involving subtraction of images
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- 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]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
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- 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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- G—PHYSICS
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- 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
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- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/08—Detecting or categorising vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/22—Status alarms responsive to presence or absence of persons
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- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Closed-Circuit Television Systems (AREA)
- Image Analysis (AREA)
- Traffic Control Systems (AREA)
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Abstract
Description
図1に示すダンプトラック(自車両)1は、頑丈なフレーム構造で形成された車体2と、車体2上に起伏可能に搭載されたベッセル(荷台)3と、車体2に装着された左前輪4A(L)及び左後輪4B(L)を主に備えている。
このように、自車両1を構成する各部分の情報を組合せることで、自車両1の形状を表現する。なお、本実施の形態においては、各カメラに映り込む可能性のある物体に関してのみ処理を行なうので、移りこむ可能性のない形状、例えば自車両1の屋根等についての情報は、自車両形状属性保持部103Aに保持しなくても良い。
車両情報入力部1001は、自車両1の可動部に関係する情報を入力するものであって、例えば、自車両1の操舵角度やベッセル3の作動量などの情報を、CAN(Control Area Network)等を用いて入力する。車両情報入力部1001は、入力した車両情報を基に可動部の形状を算出し、この形状が映像内に含まれる場合には、その車両情報等を可動部領域設定部103へ出力する。
Claims (5)
- 自車両の周囲の映像を撮影し周囲映像として送出する周囲映像入力部と、
移動物体検知の結果出力を含む合成映像を前記周囲映像から合成して構築する合成映像構築部と、
前記合成映像を利用者に提示する出力部とを備えた車体外部移動物体検知システムにおいて、
前記周囲映像における前記自車両の可動部の形状と配置を設定し、前記自車両の可動部の領域を算出する可動部領域設定部と、
前記可動部領域設定部が算出した可動部領域と前記周囲映像入力部から前記周囲映像を入力し、前記周囲映像から前記可動部領域を除いた領域に対して、移動物体の検知処理を行い検知の結果を出力する移動物体検知部とを備えた
ことを特徴とする車体外部移動物体検知システム。 - 請求項1に記載の車体外部移動物体検知システムにおいて、
前記自車両の情報を取得し送出する車両情報入力部を更に備え、
前記可動部領域設定部は、前記車両情報入力部からの前記自車両の情報を基に前記周囲映像内における前記可動部の形状と配置を算出する
ことを特徴とする車体外部移動物体検知システム。 - 請求項2に記載の車体外部移動物体検知システムにおいて、
前記合成映像構築部は、前記周囲映像内における前記可動部領域の表示を、前記移動物体の検知の結果表示とは異なる描画手法で行なう
ことを特徴とする車体外部移動物体検知システム。 - 請求項1または2に記載の車体外部移動物体検知システムにおいて、
前記出力部に表示している映像内における座標を入力可能な座標入力部を更に備え、
前記可動部領域設定部は、前記可動部領域を前記周囲映像内の前記座標入力部で入力した座標の位置へ移動させる
ことを特徴とする車体外部移動物体検知システム。 - 請求項1または2に記載の車体外部移動物体検知システムにおいて、
前記出力部に表示している映像内における領域を入力可能な領域入力部を更に備え、
前記可動部領域設定部は、前記周囲映像内の前記領域入力部で入力した領域を前記可動部領域として割り当てる
ことを特徴とする車体外部移動物体検知システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015019925A JP6456173B2 (ja) | 2015-02-04 | 2015-02-04 | 車体外部移動物体検知装置 |
PCT/JP2015/075361 WO2016125332A1 (ja) | 2015-02-04 | 2015-09-07 | 車体外部移動物体検知システム |
US15/511,301 US9990543B2 (en) | 2015-02-04 | 2015-09-07 | Vehicle exterior moving object detection system |
CN201580045783.8A CN106797450B (zh) | 2015-02-04 | 2015-09-07 | 车身外部移动物体探测装置 |
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JP2015019925A JP6456173B2 (ja) | 2015-02-04 | 2015-02-04 | 車体外部移動物体検知装置 |
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JP2016144110A true JP2016144110A (ja) | 2016-08-08 |
JP6456173B2 JP6456173B2 (ja) | 2019-01-23 |
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US (1) | US9990543B2 (ja) |
JP (1) | JP6456173B2 (ja) |
CN (1) | CN106797450B (ja) |
WO (1) | WO2016125332A1 (ja) |
Cited By (2)
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JP2021062749A (ja) * | 2019-10-15 | 2021-04-22 | アイシン精機株式会社 | 駐車支援装置 |
JP2021185366A (ja) * | 2018-03-29 | 2021-12-09 | ヤンマーパワーテクノロジー株式会社 | 障害物検知システム |
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CN107925745B (zh) * | 2015-11-30 | 2020-09-08 | 住友重机械工业株式会社 | 施工机械用周边监视系统 |
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JP7091896B2 (ja) * | 2018-07-12 | 2022-06-28 | コベルコ建機株式会社 | 旋回式作業機械の安全装置 |
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- 2015-02-04 JP JP2015019925A patent/JP6456173B2/ja active Active
- 2015-09-07 US US15/511,301 patent/US9990543B2/en active Active
- 2015-09-07 CN CN201580045783.8A patent/CN106797450B/zh active Active
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JP6456173B2 (ja) | 2019-01-23 |
WO2016125332A1 (ja) | 2016-08-11 |
CN106797450B (zh) | 2019-12-20 |
US9990543B2 (en) | 2018-06-05 |
CN106797450A (zh) | 2017-05-31 |
US20170286763A1 (en) | 2017-10-05 |
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