JP4406381B2 - 障害物検出装置及び方法 - Google Patents

障害物検出装置及び方法 Download PDF

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Publication number
JP4406381B2
JP4406381B2 JP2005122547A JP2005122547A JP4406381B2 JP 4406381 B2 JP4406381 B2 JP 4406381B2 JP 2005122547 A JP2005122547 A JP 2005122547A JP 2005122547 A JP2005122547 A JP 2005122547A JP 4406381 B2 JP4406381 B2 JP 4406381B2
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Japan
Prior art keywords
image
point
obstacle
reference image
road surface
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Expired - Fee Related
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JP2005122547A
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English (en)
Japanese (ja)
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JP2006053890A (ja
JP2006053890A5 (enExample
Inventor
進 窪田
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Toshiba Corp
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Toshiba Corp
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Priority to JP2005122547A priority Critical patent/JP4406381B2/ja
Priority to US11/178,274 priority patent/US20060013438A1/en
Publication of JP2006053890A publication Critical patent/JP2006053890A/ja
Priority to US12/000,025 priority patent/US7660434B2/en
Publication of JP2006053890A5 publication Critical patent/JP2006053890A5/ja
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    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • 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
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mathematical Physics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Measurement Of Optical Distance (AREA)
  • Traffic Control Systems (AREA)
JP2005122547A 2004-07-13 2005-04-20 障害物検出装置及び方法 Expired - Fee Related JP4406381B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2005122547A JP4406381B2 (ja) 2004-07-13 2005-04-20 障害物検出装置及び方法
US11/178,274 US20060013438A1 (en) 2004-07-13 2005-07-12 Obstacle detection apparatus and a method therefor
US12/000,025 US7660434B2 (en) 2004-07-13 2007-12-07 Obstacle detection apparatus and a method therefor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004205857 2004-07-13
JP2005122547A JP4406381B2 (ja) 2004-07-13 2005-04-20 障害物検出装置及び方法

Publications (3)

Publication Number Publication Date
JP2006053890A JP2006053890A (ja) 2006-02-23
JP2006053890A5 JP2006053890A5 (enExample) 2008-05-15
JP4406381B2 true JP4406381B2 (ja) 2010-01-27

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US (2) US20060013438A1 (enExample)
JP (1) JP4406381B2 (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012122923A (ja) * 2010-12-10 2012-06-28 Toshiba Corp 対象物検出装置及び方法
WO2014076769A1 (ja) 2012-11-13 2014-05-22 株式会社東芝 検出装置、方法及びプログラム

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JP4426535B2 (ja) * 2006-01-17 2010-03-03 本田技研工業株式会社 車両の周辺監視装置
JP2009041972A (ja) * 2007-08-07 2009-02-26 Toshiba Corp 画像処理装置及びその方法
EP2063404A1 (en) * 2007-11-23 2009-05-27 Traficon A detector for detecting traffic participants.
JP5075672B2 (ja) * 2008-02-25 2012-11-21 株式会社東芝 対象物検出装置及び方法
NZ567986A (en) * 2008-05-02 2010-08-27 Auckland Uniservices Ltd Real-time stereo image matching system
FR2937775B1 (fr) * 2008-10-24 2010-12-31 Valeo Vision Sas Procede de detection d'un objet cible pour vehicule automobile
JP4900377B2 (ja) * 2008-12-16 2012-03-21 株式会社デンソー 画像処理装置
JP5190712B2 (ja) * 2009-03-24 2013-04-24 アイシン精機株式会社 障害物検出装置
US9275680B2 (en) * 2009-06-16 2016-03-01 Microsoft Technology Licensing, Llc Viewer-centric user interface for stereoscopic cinema
DE102009031650B4 (de) 2009-07-03 2024-05-29 Volkswagen Ag Verfahren zur Erweiterung eines Kamerasystems, Kamerasystem, Fahrerassistenzsysem und entsprechendes Fahrzeug
AU2010200875A1 (en) * 2010-03-09 2011-09-22 The University Of Sydney Sensor data processing
JP5481337B2 (ja) * 2010-09-24 2014-04-23 株式会社東芝 画像処理装置
US9900522B2 (en) * 2010-12-01 2018-02-20 Magna Electronics Inc. System and method of establishing a multi-camera image using pixel remapping
WO2012169131A1 (ja) * 2011-06-06 2012-12-13 パナソニック株式会社 キャリブレーション装置及びキャリブレーション方法
US9191650B2 (en) * 2011-06-20 2015-11-17 National Chiao Tung University Video object localization method using multiple cameras
DE102011113077A1 (de) * 2011-09-07 2013-03-07 Conti Temic Microelectronic Gmbh Verfahren zur Bestimmung einer Durchfahrbarkeit eines Objekts für ein Fahrzeug mittels einer 3D-Kamera
JP5623362B2 (ja) * 2011-09-28 2014-11-12 本田技研工業株式会社 段差部認識装置
US9269263B2 (en) * 2012-02-24 2016-02-23 Magna Electronics Inc. Vehicle top clearance alert system
US10678259B1 (en) * 2012-09-13 2020-06-09 Waymo Llc Use of a reference image to detect a road obstacle
KR101896715B1 (ko) * 2012-10-31 2018-09-07 현대자동차주식회사 주변차량 위치 추적 장치 및 방법
US9547805B1 (en) * 2013-01-22 2017-01-17 The Boeing Company Systems and methods for identifying roads in images
JP6149676B2 (ja) * 2013-10-09 2017-06-21 富士通株式会社 画像処理装置、画像処理方法、及び、プログラム
CN106444837A (zh) * 2016-10-17 2017-02-22 北京理工大学 一种无人机避障方法及系统
CN106503653B (zh) * 2016-10-21 2020-10-13 深圳地平线机器人科技有限公司 区域标注方法、装置和电子设备
CN108629227B (zh) * 2017-03-15 2021-04-06 纵目科技（上海）股份有限公司 在图像中确定车辆左右边界的方法及系统
JP6759461B2 (ja) * 2017-06-12 2020-09-23 日立オートモティブシステムズ株式会社 車両運転支援装置
US10949996B2 (en) * 2018-01-16 2021-03-16 Aisin Seiki Kabushiki Kaisha Self-position estimation apparatus
US11202055B2 (en) * 2018-02-28 2021-12-14 Blackberry Limited Rapid ground-plane discrimination in stereoscopic images
CN108399398A (zh) * 2018-03-22 2018-08-14 武汉云衡智能科技有限公司 一种基于深度学习的无人驾驶汽车障碍物识别检测方法
CN111971682B (zh) * 2018-04-16 2024-07-05 三菱电机株式会社 路面检测装置、图像显示装置、障碍物检测装置、路面检测方法、图像显示方法以及障碍物检测方法
CN109074668B (zh) * 2018-08-02 2022-05-20 达闼机器人股份有限公司 路径导航方法、相关装置及计算机可读存储介质
JP7167751B2 (ja) * 2019-02-08 2022-11-09 株式会社アイシン 物体検出装置
CN113825980B (zh) * 2019-07-19 2024-04-09 西门子（中国）有限公司 机器人手眼标定方法、装置、计算设备以及介质
CN111091049B (zh) * 2019-11-01 2024-02-09 东南大学 一种基于反向特征匹配的路面障碍物检测方法
CN111612760B (zh) * 2020-05-20 2023-11-17 阿波罗智联(北京)科技有限公司 用于检测障碍物的方法和装置
CN112560769B (zh) * 2020-12-25 2023-08-29 阿波罗智联(北京)科技有限公司 用于检测障碍物的方法、电子设备、路侧设备和云控平台
US12132986B2 (en) * 2021-12-12 2024-10-29 Avanti R&D, Inc. Computer vision system used in vehicles

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FR2712251B1 (fr) * 1993-11-10 1996-01-26 Eurocopter France Procédé et dispositif d'aide au pilotage d'un aéronef.
JP3242529B2 (ja) * 1994-06-07 2001-12-25 松下通信工業株式会社 ステレオ画像対応付け方法およびステレオ画像視差計測方法
DE19636028C1 (de) * 1996-09-05 1997-11-20 Daimler Benz Ag Verfahren zur Stereobild-Objektdetektion
JP4172554B2 (ja) * 1998-03-12 2008-10-29 富士重工業株式会社 ステレオカメラの調整装置
JP2000293693A (ja) 1999-03-31 2000-10-20 Toshiba Corp 障害物検出方法および装置
US6963661B1 (en) * 1999-09-09 2005-11-08 Kabushiki Kaisha Toshiba Obstacle detection system and method therefor
JP4256992B2 (ja) 1999-09-09 2009-04-22 株式会社東芝 障害物検出装置
US6801244B2 (en) * 2000-02-29 2004-10-05 Kabushiki Kaisha Toshiba Obstacle detection apparatus and method
JP3759429B2 (ja) * 2001-05-23 2006-03-22 株式会社東芝 障害物検出装置及びその方法
US6933837B2 (en) * 2002-01-25 2005-08-23 Altra Technologies Incorporated Trailer based collision warning system and method
JP3797949B2 (ja) * 2002-03-28 2006-07-19 株式会社東芝 画像処理装置及びその方法
JP3895238B2 (ja) * 2002-08-28 2007-03-22 株式会社東芝 障害物検出装置及びその方法
JP4216021B2 (ja) * 2002-08-30 2009-01-28 富士重工業株式会社 侵入物検出装置
JP3868876B2 (ja) * 2002-09-25 2007-01-17 株式会社東芝 障害物検出装置及び方法
US7068815B2 (en) * 2003-06-13 2006-06-27 Sarnoff Corporation Method and apparatus for ground detection and removal in vision systems

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012122923A (ja) * 2010-12-10 2012-06-28 Toshiba Corp 対象物検出装置及び方法
WO2014076769A1 (ja) 2012-11-13 2014-05-22 株式会社東芝 検出装置、方法及びプログラム
CN103988241A (zh) * 2012-11-13 2014-08-13 株式会社东芝 检测装置、方法以及程序
JPWO2014076769A1 (ja) * 2012-11-13 2016-09-08 株式会社東芝 検出装置、方法及びプログラム

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Publication number Publication date
JP2006053890A (ja) 2006-02-23
US7660434B2 (en) 2010-02-09
US20080285798A1 (en) 2008-11-20
US20060013438A1 (en) 2006-01-19

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