JP6058072B2 - 物体識別装置 - Google Patents
物体識別装置 Download PDFInfo
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- JP6058072B2 JP6058072B2 JP2015109460A JP2015109460A JP6058072B2 JP 6058072 B2 JP6058072 B2 JP 6058072B2 JP 2015109460 A JP2015109460 A JP 2015109460A JP 2015109460 A JP2015109460 A JP 2015109460A JP 6058072 B2 JP6058072 B2 JP 6058072B2
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- VWTINHYPRWEBQY-UHFFFAOYSA-N denatonium Chemical compound [O-]C(=O)C1=CC=CC=C1.C=1C=CC=CC=1C[N+](CC)(CC)CC(=O)NC1=C(C)C=CC=C1C VWTINHYPRWEBQY-UHFFFAOYSA-N 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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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
- 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
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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
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
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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
- 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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
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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
- 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
- G01S13/865—Combination of radar systems with lidar systems
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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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- 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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Traffic Control Systems (AREA)
Description
図1は本発明の実施の形態1に係る物体識別装置を示している。本実施の形態においては、物体を検出するセンサとしてレーダ1とカメラ2を備えており、それぞれの検出結果は処理部としてのCPU(Central Processing Unit)(処理部とも称す)3に入力されるようになっている。この物体識別装置は、自動車などに搭載され、前方に存在する物体を検出して種類を識別する。
したがって、レーダ1を用いた場合の物体のカテゴリと、距離Rと、受信レベルAの関係を予め実験的に把握しておけば、検出された物体の距離Rと受信レベルAから物体のカテゴリを識別することができることになる。
以上を踏まえ、物体の距離Rが決まった場合の、受信レベルAの分布を確率密度として例示したものが図3である。自動車についての確率密度は太実線C2に示すようになり、オートバイについての確率密度は点線B2に示すようになり、また歩行者についての確率密度は太破線P2に示すようになる。
このように、本実施の形態においては、レーダ、カメラ毎に重み付けを設定し、カテゴリ毎に、レーダ、カメラの信頼度の平均となる加重平均を各カテゴリの平均信頼度として計算し、平均信頼度が最も高いカテゴリを物体の種類として識別する。
また、本発明は、自動車などに搭載され、前方に存在する物体を検出して種類を識別する物体識別装置などに有用である。
Claims (1)
- 検出した物体に対して前記物体の種類について予め定められたカテゴリ毎に合致する度合いを示す信頼度をそれぞれ出力する複数のセンサと、前記カテゴリ毎に、前記各センサの前記信頼度を加重平均したものを各カテゴリの平均信頼度とし、前記平均信頼度が最も高いカテゴリを前記物体の種類として識別する処理部を備え、前記センサはレーダとカメラであって、前記レーダは、前記物体で反射されて受信される電波の受信レベルと、前記物体との距離とから得られた前記受信レベルに対する前記カテゴリ毎のレーダ信頼度を前記処理部に出力し、前記カメラは、前記物体を撮影して得られた画像に対し、前記カテゴリ毎の物体をマッチング対象としたパターンマッチングを行って得られた前記カテゴリ毎の合致度により得られた前記カテゴリ毎のカメラ信頼度を前記処理部に出力することを特徴とする物体識別装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015109460A JP6058072B2 (ja) | 2015-05-29 | 2015-05-29 | 物体識別装置 |
US14/853,178 US10545228B2 (en) | 2015-05-29 | 2015-09-14 | Object identification device |
DE102015218570.2A DE102015218570A1 (de) | 2015-05-29 | 2015-09-28 | Objektidentifikationsvorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015109460A JP6058072B2 (ja) | 2015-05-29 | 2015-05-29 | 物体識別装置 |
Publications (2)
Publication Number | Publication Date |
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JP2016223872A JP2016223872A (ja) | 2016-12-28 |
JP6058072B2 true JP6058072B2 (ja) | 2017-01-11 |
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JP2015109460A Active JP6058072B2 (ja) | 2015-05-29 | 2015-05-29 | 物体識別装置 |
Country Status (3)
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US (1) | US10545228B2 (ja) |
JP (1) | JP6058072B2 (ja) |
DE (1) | DE102015218570A1 (ja) |
Families Citing this family (11)
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JP6256239B2 (ja) * | 2014-07-25 | 2018-01-10 | 株式会社デンソー | 歩行者検出装置および歩行者検出方法 |
WO2017057061A1 (ja) * | 2015-09-30 | 2017-04-06 | ソニー株式会社 | 情報処理装置、情報処理方法、及び、プログラム |
US10317522B2 (en) * | 2016-03-01 | 2019-06-11 | GM Global Technology Operations LLC | Detecting long objects by sensor fusion |
US9898347B1 (en) | 2017-03-15 | 2018-02-20 | Sap Se | Scaling computing resources in a cluster |
JP6985949B2 (ja) * | 2018-02-06 | 2021-12-22 | 日立Astemo株式会社 | 車載電子制御装置 |
DE112018007037B4 (de) | 2018-03-12 | 2022-11-03 | Mitsubishi Electric Corporation | Nebelbestimmungsvorrichtung, Nebelbestimmungsverfahren und Nebelbestimmungsprogramm |
US11867870B2 (en) | 2018-03-12 | 2024-01-09 | Mitsubishi Electric Corporation | Fog determination apparatus, fog determination method, and computer readable medium |
CN111257866B (zh) * | 2018-11-30 | 2022-02-11 | 杭州海康威视数字技术股份有限公司 | 车载摄像头和车载雷达联动的目标检测方法、装置及系统 |
US20200361452A1 (en) * | 2019-05-13 | 2020-11-19 | Toyota Research Institute, Inc. | Vehicles and methods for performing tasks based on confidence in accuracy of module output |
US11361201B2 (en) * | 2020-10-08 | 2022-06-14 | Argo AI, LLC | Systems and methods for determining an object type and an attribute for an observation based on fused sensor data |
US11731662B2 (en) | 2020-10-08 | 2023-08-22 | Ford Global Technologies, Llc | Autonomous vehicle system for detecting pedestrian presence |
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EP1788461B1 (en) * | 2005-11-22 | 2009-06-17 | Multitel ASBL | A device for and a method of designing a sensor arrangement for a safe automated system, an automated system, a program element and a computer-readable medium |
JP4857839B2 (ja) * | 2006-03-22 | 2012-01-18 | 日産自動車株式会社 | 物体検出装置 |
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2015
- 2015-05-29 JP JP2015109460A patent/JP6058072B2/ja active Active
- 2015-09-14 US US14/853,178 patent/US10545228B2/en active Active
- 2015-09-28 DE DE102015218570.2A patent/DE102015218570A1/de active Pending
Also Published As
Publication number | Publication date |
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JP2016223872A (ja) | 2016-12-28 |
US20160349358A1 (en) | 2016-12-01 |
US10545228B2 (en) | 2020-01-28 |
DE102015218570A1 (de) | 2016-12-01 |
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