JP5503578B2 - 物体検出装置及び物体検出方法 - Google Patents

物体検出装置及び物体検出方法 Download PDF

Info

Publication number
JP5503578B2
JP5503578B2 JP2011053166A JP2011053166A JP5503578B2 JP 5503578 B2 JP5503578 B2 JP 5503578B2 JP 2011053166 A JP2011053166 A JP 2011053166A JP 2011053166 A JP2011053166 A JP 2011053166A JP 5503578 B2 JP5503578 B2 JP 5503578B2
Authority
JP
Japan
Prior art keywords
map information
detection
region
coordinate
detected
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.)
Expired - Fee Related
Application number
JP2011053166A
Other languages
English (en)
Japanese (ja)
Other versions
JP2012189445A5 (enExample
JP2012189445A (ja
Inventor
慎 安木
洋文 西村
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.)
Panasonic Corp
Panasonic Holdings Corp
Original Assignee
Panasonic Corp
Matsushita Electric Industrial 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 Panasonic Corp, Matsushita Electric Industrial Co Ltd filed Critical Panasonic Corp
Priority to JP2011053166A priority Critical patent/JP5503578B2/ja
Priority to PCT/JP2012/001448 priority patent/WO2012120856A1/ja
Priority to US13/816,810 priority patent/US9041588B2/en
Publication of JP2012189445A publication Critical patent/JP2012189445A/ja
Publication of JP2012189445A5 publication Critical patent/JP2012189445A5/ja
Application granted granted Critical
Publication of JP5503578B2 publication Critical patent/JP5503578B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G06F18/254—Fusion techniques of classification results, e.g. of results related to same input data
    • G06F18/256—Fusion techniques of classification results, e.g. of results related to same input data of results relating to different input data, e.g. multimodal 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
    • G06V10/255—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
    • 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
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/809—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data
    • G06V10/811—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data the classifiers operating on different input data, e.g. multi-modal recognition
    • 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
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G06V20/653—Three-dimensional objects by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/414—Discriminating targets with respect to background clutter

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Evolutionary Computation (AREA)
  • Software Systems (AREA)
  • Data Mining & Analysis (AREA)
  • Artificial Intelligence (AREA)
  • Geophysics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Medical Informatics (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Measurement Of Optical Distance (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Image Analysis (AREA)
JP2011053166A 2011-03-10 2011-03-10 物体検出装置及び物体検出方法 Expired - Fee Related JP5503578B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2011053166A JP5503578B2 (ja) 2011-03-10 2011-03-10 物体検出装置及び物体検出方法
PCT/JP2012/001448 WO2012120856A1 (ja) 2011-03-10 2012-03-02 物体検出装置及び物体検出方法
US13/816,810 US9041588B2 (en) 2011-03-10 2012-03-02 Object detection device and object detection method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011053166A JP5503578B2 (ja) 2011-03-10 2011-03-10 物体検出装置及び物体検出方法

Publications (3)

Publication Number Publication Date
JP2012189445A JP2012189445A (ja) 2012-10-04
JP2012189445A5 JP2012189445A5 (enExample) 2013-08-29
JP5503578B2 true JP5503578B2 (ja) 2014-05-28

Family

ID=46797828

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2011053166A Expired - Fee Related JP5503578B2 (ja) 2011-03-10 2011-03-10 物体検出装置及び物体検出方法

Country Status (3)

Country Link
US (1) US9041588B2 (enExample)
JP (1) JP5503578B2 (enExample)
WO (1) WO2012120856A1 (enExample)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2678709B1 (en) * 2011-02-21 2018-03-28 Transrobotics, Inc. System and method for sensing distance and/or movement
JP6192910B2 (ja) * 2012-09-04 2017-09-06 富士通テン株式会社 レーダ装置および物標高算出方法
WO2014055755A1 (en) 2012-10-05 2014-04-10 TransRobotics, Inc. Systems and methods for high resolution distance sensing and applications
US9066085B2 (en) 2012-12-13 2015-06-23 Delphi Technologies, Inc. Stereoscopic camera object detection system and method of aligning the same
US10140717B2 (en) 2013-02-27 2018-11-27 Hitachi Automotive Systems, Ltd. Imaging apparatus and vehicle controller
US10254395B2 (en) * 2013-12-04 2019-04-09 Trimble Inc. System and methods for scanning with integrated radar detection and image capture
US9557415B2 (en) * 2014-01-20 2017-01-31 Northrop Grumman Systems Corporation Enhanced imaging system
EP3097433B1 (en) 2014-01-24 2020-12-30 Sony Corporation Camera with radar-based autofocus
JP6299879B2 (ja) * 2014-03-21 2018-04-11 オムロン株式会社 光学システムにおける光学性能劣化の検出および緩和のための方法および装置
CN103941305A (zh) * 2014-04-23 2014-07-23 中国科学院合肥物质科学研究院 一种高速运动平面上异物检测方法及其装置
JP6330160B2 (ja) * 2014-05-09 2018-05-30 本田技研工業株式会社 物体認識装置
JP6233345B2 (ja) * 2015-04-17 2017-11-22 トヨタ自動車株式会社 路面勾配検出装置
JP6503906B2 (ja) * 2015-06-10 2019-04-24 富士通株式会社 画像処理装置、画像処理方法および画像処理プログラム
JP6692129B2 (ja) * 2015-07-10 2020-05-13 ルネサスエレクトロニクス株式会社 半導体装置
MX371182B (es) * 2015-07-27 2020-01-22 Nissan Motor Método de detección de objetos y dispositivo de detección de objetos.
CN108139475A (zh) * 2015-09-30 2018-06-08 索尼公司 信号处理设备、信号处理方法和程序
US10663594B2 (en) * 2016-03-14 2020-05-26 Imra Europe S.A.S. Processing method of a 3D point cloud
JP6547785B2 (ja) * 2016-07-29 2019-07-24 株式会社デンソー 物標検出装置
US10816658B2 (en) * 2016-09-07 2020-10-27 OmniPreSense Corporation Radar enabled weapon detection system
JP7206583B2 (ja) * 2016-11-25 2023-01-18 株式会社リコー 情報処理装置、撮像装置、機器制御システム、移動体、情報処理方法およびプログラム
JP7062878B2 (ja) * 2017-03-27 2022-05-09 沖電気工業株式会社 情報処理方法および情報処理装置
EP3517996B1 (en) * 2018-01-25 2022-09-07 Aptiv Technologies Limited Method for determining the position of a vehicle
EP3518001B1 (en) 2018-01-25 2020-09-16 Aptiv Technologies Limited Method for increasing the reliability of determining the position of a vehicle on the basis of a plurality of detection points
KR102391205B1 (ko) * 2018-03-20 2022-04-27 주식회사 에이치엘클레무브 객체 검출 기반 거리 추정 장치 및 그 방법
CN112119330B (zh) * 2018-05-14 2024-07-02 三菱电机株式会社 物体检测装置及物体检测方法
CN109085569B (zh) * 2018-08-13 2022-11-01 南京邮电大学 一种基于区域划分的多雷达航迹关联方法
CN111028287B (zh) * 2018-10-09 2023-10-20 杭州海康威视数字技术股份有限公司 确定雷达坐标和摄像机坐标的转换矩阵的方法和装置
US11703593B2 (en) 2019-04-04 2023-07-18 TransRobotics, Inc. Technologies for acting based on object tracking
EP3819663B1 (en) 2019-11-07 2025-08-27 Aptiv Technologies AG Method for determining a position of a vehicle
EP3828587B1 (en) 2019-11-29 2025-06-18 Aptiv Technologies AG Method for determining the position of a vehicle
EP3851870B1 (en) 2020-01-14 2025-08-27 Aptiv Technologies AG Method for determining position data and/or motion data of a vehicle
CN113759363B (zh) * 2020-06-02 2023-09-19 杭州海康威视数字技术股份有限公司 目标定位方法、装置、监控系统和存储介质
KR102709263B1 (ko) * 2020-10-21 2024-09-24 (주)에이유 CFAR (constant false alarm rate) 알고리즘 성능 향상을 위한 신호 전처리 기법
CN112835039B (zh) * 2020-12-30 2023-09-08 内蒙古工业大学 平面孔径分区域非线性渐进式相位迭代成像的方法及装置
CN112835040B (zh) * 2020-12-30 2023-05-23 内蒙古工业大学 球面孔径分区域渐进式相位迭代成像的方法及装置
JP7644844B2 (ja) 2021-12-14 2025-03-12 日立Astemo株式会社 画像認識装置、および、画像認識方法
JP2025037193A (ja) * 2023-09-05 2025-03-17 日立Astemo株式会社 物標認識装置

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3044524B2 (ja) * 1995-05-23 2000-05-22 本田技研工業株式会社 車両における対照物検知方法
US7796081B2 (en) * 1997-10-22 2010-09-14 Intelligent Technologies International, Inc. Combined imaging and distance monitoring for vehicular applications
JP4308381B2 (ja) * 1999-09-29 2009-08-05 富士通テン株式会社 周辺監視センサ
JP2001134769A (ja) * 1999-11-04 2001-05-18 Honda Motor Co Ltd 対象物認識装置
JP3639190B2 (ja) * 2000-07-10 2005-04-20 株式会社デンソー 物体認識装置、記録媒体
US6466158B2 (en) * 2000-12-08 2002-10-15 Lockheed Martin Corp. Identifying closely clustered moving targets
US6687577B2 (en) * 2001-12-19 2004-02-03 Ford Global Technologies, Llc Simple classification scheme for vehicle/pole/pedestrian detection
JP2004037239A (ja) * 2002-07-03 2004-02-05 Fuji Heavy Ind Ltd 同一対象物判断方法および装置、並びに、位置ずれ補正方法および装置
US7136753B2 (en) * 2002-12-05 2006-11-14 Denso Corporation Object recognition apparatus for vehicle, inter-vehicle control apparatus, and distance measurement apparatus
DE10258794A1 (de) * 2002-12-16 2004-06-24 Ibeo Automobile Sensor Gmbh Verfahren zur Erkennung und Verfolgung von Objekten
DE10336638A1 (de) * 2003-07-25 2005-02-10 Robert Bosch Gmbh Vorrichtung zur Klassifizierung wengistens eines Objekts in einem Fahrzeugumfeld
US7403659B2 (en) * 2003-08-28 2008-07-22 Sarnoff Corporation Method and apparatus for differentiating pedestrians, vehicles, and other objects
JP3873967B2 (ja) * 2003-12-04 2007-01-31 日産自動車株式会社 天候判定装置及び天候判定方法
JP2005182137A (ja) 2003-12-16 2005-07-07 Nissan Motor Co Ltd 先行車両検出装置及び先行車両検出方法
JP2006134035A (ja) * 2004-11-05 2006-05-25 Fuji Heavy Ind Ltd 移動物体検出装置および移動物体検出方法
JP2006292621A (ja) * 2005-04-13 2006-10-26 Toyota Motor Corp 物体検出装置
DE102005024716B4 (de) * 2005-05-30 2023-09-21 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erkennung und Klassifizierung von Objekten
US20080059015A1 (en) * 2006-06-09 2008-03-06 Whittaker William L Software architecture for high-speed traversal of prescribed routes
JP5127182B2 (ja) * 2006-08-14 2013-01-23 富士重工業株式会社 物体検出装置
US7903024B2 (en) * 2007-10-25 2011-03-08 Lockheed Martin Corporation Adaptive moving target indicator (MTI) clutter rejection filter for radar systems
JP5320828B2 (ja) * 2008-06-04 2013-10-23 日産自動車株式会社 歩行者検出装置及び歩行者検出方法
JP5073700B2 (ja) 2009-03-24 2012-11-14 富士重工業株式会社 物体検出装置
JP4819166B2 (ja) * 2010-01-25 2011-11-24 富士通テン株式会社 情報処理装置、情報入手装置、情報統合装置、制御装置および物体検出装置
US8493196B2 (en) * 2010-11-15 2013-07-23 Bendix Commercial Vehicle Systems Llc ACB following distance alert and warning adjustment as a function of forward vehicle size and host vehicle mass

Also Published As

Publication number Publication date
WO2012120856A1 (ja) 2012-09-13
US9041588B2 (en) 2015-05-26
US20130335259A1 (en) 2013-12-19
JP2012189445A (ja) 2012-10-04

Similar Documents

Publication Publication Date Title
JP5503578B2 (ja) 物体検出装置及び物体検出方法
JP5632762B2 (ja) 測位情報形成装置、検出装置、及び測位情報形成方法
JP6825569B2 (ja) 信号処理装置、信号処理方法、およびプログラム
JP5472538B2 (ja) 距離計測装置及び環境地図生成装置
JP5580164B2 (ja) 光学情報処理装置、光学情報処理方法、光学情報処理システム、光学情報処理プログラム
WO2021140886A1 (ja) 三次元モデル生成方法、情報処理装置およびプログラム
US20140253679A1 (en) Depth measurement quality enhancement
US20110311130A1 (en) Image processing apparatus, method, program, and recording medium
CN114494462A (zh) 一种基于Yolov5和改进跟踪算法的双目相机测距方法
WO2016199244A1 (ja) 物体認識装置及び物体認識システム
EP3561450A1 (en) Stereo camera
JP7152506B2 (ja) 撮像装置
CN112927306B (zh) 拍摄装置的标定方法、装置及终端设备
EP3324359B1 (en) Image processing device and image processing method
JP6920159B2 (ja) 車両の周辺監視装置と周辺監視方法
CN113095324A (zh) 一种针对锥桶的分类与测距方法及系统
JP2016200557A (ja) 校正装置、距離計測装置及び校正方法
US10192141B2 (en) Determining scale of three dimensional information
US20220292747A1 (en) Method and system for performing gtl with advanced sensor data and camera image
CN114730014A (zh) 物体识别装置和物体识别方法
US20240296621A1 (en) Three-dimensional model generation method and three-dimensional model generation device
EP2911392B1 (en) Parallax calculation system, information processing apparatus, information processing method, and program
JP7347398B2 (ja) 物体検出装置
JP2014130086A (ja) 距離画像センサ、処理装置、プログラム
Jin et al. Automatic calibration and association for roadside radar and camera based on fluctuating traffic volume

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130716

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20130716

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20131126

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20131204

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20140225

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20140314

R151 Written notification of patent or utility model registration

Ref document number: 5503578

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151

LAPS Cancellation because of no payment of annual fees