JP2020012742A - 物体検知装置 - Google Patents
物体検知装置 Download PDFInfo
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- JP2020012742A JP2020012742A JP2018135482A JP2018135482A JP2020012742A JP 2020012742 A JP2020012742 A JP 2020012742A JP 2018135482 A JP2018135482 A JP 2018135482A JP 2018135482 A JP2018135482 A JP 2018135482A JP 2020012742 A JP2020012742 A JP 2020012742A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/76—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries based on eigen-space representations, e.g. from pose or different illumination conditions; Shape manifolds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/761—Proximity, similarity or dissimilarity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/776—Validation; Performance evaluation
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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
- 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
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- 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
- G06T2207/30—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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- Evolutionary Computation (AREA)
- Databases & Information Systems (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Traffic Control Systems (AREA)
- Image Processing (AREA)
- Measurement Of Optical Distance (AREA)
- Image Analysis (AREA)
Abstract
Description
以下、図面を用いて実施例を説明する。
第一に、測距の誤りである。数式3に示した通り、視差の誤差に伴う測距誤差は遠方ほど大きい。図6に測距に使える視差の限界距離の算出方法を説明する図を示している。ステレオカメラの搭載された車両601に対して、点線で示した物体602を配置したとき、ある視差誤差によって実際には黒丸で示した位置603に物体があるように測距を誤る。このときの距離と測距誤差の関係を、図6下部のグラフに符号605で示している。この測距誤差が許容値を越えるところを測距限界距離DIST_MAX_a[m]とする。許容値は例えば実際の距離に対して5%以内と設定すると符号604のように表され、符号604と符号605の交わる点が測距限界となる。
第二に、高さあるいは左右方向の位置の誤りである。視差の誤差はカメラの光学中心方向の位置誤差を発生させるため、例えば高さ方向についての誤差dYは、実際のカメラに対する高さYに対して以下の数式4で表される。
Claims (4)
- 複数の画像を得る撮像部と、
前記撮像部から取得した画像から視差画像を生成する視差画像生成部と、
前記視差画像の各視差の信頼度をマッチングウィンドウ内のエッジ向きを用いて算出する信頼度算出部と、
前記信頼度算出を実施するか否かの判定を行う信頼度算出実施判定部と、
前記信頼度算出実施判定部で信頼度を算出すると判定した場合に視差画像と信頼度を用いて物体を検知する物体検知部と、
を備えた物体検知装置。 - 請求項1記載の物体検知装置であって、
前記信頼度算出部は、前記マッチングウィンドウ内のエッジ向きと得られた視差値を用いて前記信頼度を算出する物体検知装置。 - 請求項1記載の物体検知装置であって、
前記信頼度算出実施判定部は、前記物体の検知情報か、自車の移動速度情報か、前記自車の前方の走行路情報のうちいずれかを用いて前記信頼度を算出するか否かの判定を行う物体検知装置。 - 請求項1記載の物体検知装置であって、
前記物体検知部は、前記信頼度に応じて前記視差画像を物体検知用の視差と測距用の視差に分類する物体検知装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018135482A JP7064400B2 (ja) | 2018-07-19 | 2018-07-19 | 物体検知装置 |
CN201980046422.3A CN112400094B (zh) | 2018-07-19 | 2019-07-04 | 物体探测装置 |
PCT/JP2019/026564 WO2020017336A1 (ja) | 2018-07-19 | 2019-07-04 | 物体検知装置 |
EP19837560.2A EP3825648A4 (en) | 2018-07-19 | 2019-07-04 | OBJECT RECOGNITION DEVICE |
Applications Claiming Priority (1)
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JP2018135482A JP7064400B2 (ja) | 2018-07-19 | 2018-07-19 | 物体検知装置 |
Publications (2)
Publication Number | Publication Date |
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JP2020012742A true JP2020012742A (ja) | 2020-01-23 |
JP7064400B2 JP7064400B2 (ja) | 2022-05-10 |
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JP2018135482A Active JP7064400B2 (ja) | 2018-07-19 | 2018-07-19 | 物体検知装置 |
Country Status (4)
Country | Link |
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EP (1) | EP3825648A4 (ja) |
JP (1) | JP7064400B2 (ja) |
CN (1) | CN112400094B (ja) |
WO (1) | WO2020017336A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7134113B2 (ja) * | 2019-02-12 | 2022-09-09 | 日立Astemo株式会社 | 画像処理装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1021401A (ja) * | 1996-07-04 | 1998-01-23 | Canon Inc | 三次元情報処理装置 |
JP2013024773A (ja) * | 2011-07-22 | 2013-02-04 | Canon Inc | 3次元計測方法 |
WO2013062087A1 (ja) * | 2011-10-28 | 2013-05-02 | 富士フイルム株式会社 | 3次元測定用撮像装置及び3次元測定装置、測定プログラム |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3822515B2 (ja) * | 2002-03-29 | 2006-09-20 | 株式会社東芝 | 障害物検知装置及びその方法 |
KR101832189B1 (ko) * | 2015-07-29 | 2018-02-26 | 야마하하쓰도키 가부시키가이샤 | 이상화상 검출장치, 이상화상 검출장치를 구비한 화상 처리 시스템 및 화상 처리 시스템을 탑재한 차량 |
CN108076266A (zh) * | 2016-11-11 | 2018-05-25 | 株式会社东芝 | 处理装置以及摄像装置 |
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2018
- 2018-07-19 JP JP2018135482A patent/JP7064400B2/ja active Active
-
2019
- 2019-07-04 WO PCT/JP2019/026564 patent/WO2020017336A1/ja active Application Filing
- 2019-07-04 EP EP19837560.2A patent/EP3825648A4/en active Pending
- 2019-07-04 CN CN201980046422.3A patent/CN112400094B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1021401A (ja) * | 1996-07-04 | 1998-01-23 | Canon Inc | 三次元情報処理装置 |
JP2013024773A (ja) * | 2011-07-22 | 2013-02-04 | Canon Inc | 3次元計測方法 |
WO2013062087A1 (ja) * | 2011-10-28 | 2013-05-02 | 富士フイルム株式会社 | 3次元測定用撮像装置及び3次元測定装置、測定プログラム |
Also Published As
Publication number | Publication date |
---|---|
EP3825648A4 (en) | 2022-04-20 |
CN112400094B (zh) | 2022-10-28 |
WO2020017336A1 (ja) | 2020-01-23 |
EP3825648A1 (en) | 2021-05-26 |
CN112400094A (zh) | 2021-02-23 |
JP7064400B2 (ja) | 2022-05-10 |
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