JP6440411B2 - 物体検出装置 - Google Patents
物体検出装置 Download PDFInfo
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- JP6440411B2 JP6440411B2 JP2014171960A JP2014171960A JP6440411B2 JP 6440411 B2 JP6440411 B2 JP 6440411B2 JP 2014171960 A JP2014171960 A JP 2014171960A JP 2014171960 A JP2014171960 A JP 2014171960A JP 6440411 B2 JP6440411 B2 JP 6440411B2
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- 238000001514 detection method Methods 0.000 title claims description 168
- 230000010354 integration Effects 0.000 claims description 15
- 238000012545 processing Methods 0.000 description 18
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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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
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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
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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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
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- 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
- 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
-
- 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 or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B60W2420/408—
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/25—Road altitude
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- 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
Description
Claims (8)
- 2つのカメラの画像に基づいて車両前方の物体を検出する物体検出装置であって、
前記2つのカメラの各画像を照合して画素毎に視差を算出する視差取得部と、
前記2つのカメラの一方の単画像において、前記車両から近い近傍領域と前記車両から遠い遠方領域との間の境界を設定する遠近境界設定部と、
前記視差に基づいて前記近傍領域の物体を検出する近傍物体検出部と、
前記単画像に基づいて前記遠方領域の物体を検出する遠方物体検出部と、
前記視差に基づいて前記車両前方の路面までの距離を算出し、該距離の信頼性が高い領域と、該距離の信頼性が低い領域との間の境界画素位置を検出する路面推定部と、
を備え、
前記遠近境界設定部は、前記境界画素位置に基づいて前記境界を設定し、
前記路面推定部は、
横軸を前記視差、縦軸を前記単画像の各画素の縦方向の座標位置とする仮想平面に、前記単画像の各画素に対応する前記視差及び前記座標位置のデータを投影したV-Disparity画像を出力する仮想平面設定部と、
前記V-Disparity画像において最も支配的な直線を検出する直線検出部と、
前記V-Disparity画像における前記直線と前記データの位置とのずれに基づいて、前記境界画素位置を検出する境界画素位置検出部と、
を備えることを特徴とする物体検出装置。 - 前記遠方物体検出部は、前記単画像上の前記遠方領域に探索範囲を設定し、該探索範囲内でテンプレートを走査させ、パタンマッチングによって前記遠方領域の物体を検出することを特徴とする請求項1に記載の物体検出装置。
- 前記遠方物体検出部は、前記単画像の前記境界における画素の縦方向の座標位置と前記V-Disparity画像の前記境界画素位置との間の推定誤差を用い、前記探索範囲の縦方向の一端を前記境界画素位置と前記推定誤差との和となる位置に設定することを特徴とする請求項2に記載の物体検出装置。
- 前記遠方物体検出部は、前記単画像の前記境界において想定される最大高さの物体の画像縦幅を用い、前記探索範囲の縦方向の他端を前記境界画素位置から前記画像縦幅と前記推定誤差を減じた位置に設定することを特徴とする請求項3に記載の物体検出装置。
- 前記単画像を用いて前記車両前方の道路形状を設定する道路形状設定部をさらに備え、
前記遠方物体検出部は、前記探索範囲の左右端の位置を前記道路形状の画像領域の左右端の位置に設定することを特徴とする請求項2に記載の物体検出装置。 - 前記遠方物体検出部は、大きさの異なる複数の前記テンプレートを用いて繰り返し前記探索範囲を走査することを特徴とする請求項2に記載の物体検出装置。
- 前記単画像上に表示された互いに重なっている前記物体の検出結果のうち、距離が遠い方の物体の検出結果を消去する遠近物体統合部をさらに備えることを特徴とする請求項1に記載の物体検出装置。
- 前記近傍物体検出部は、前記単画像の前記近傍領域の画素毎に算出した視差が各画素に格納された視差画像を用い、前記視差画像の各画素の前記視差である距離データが、奥行方向及び横方向に連続した一群の前記距離データを、前記視差画像から抽出することで、前記近傍領域の前記物体を検出することを特徴とする請求項1に記載の物体検出装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014171960A JP6440411B2 (ja) | 2014-08-26 | 2014-08-26 | 物体検出装置 |
US15/500,814 US10140526B2 (en) | 2014-08-26 | 2015-08-03 | Object detecting device |
PCT/JP2015/071899 WO2016031494A1 (ja) | 2014-08-26 | 2015-08-03 | 物体検出装置 |
EP15835840.8A EP3188118B1 (en) | 2014-08-26 | 2015-08-03 | Object detecting device |
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JP2014171960A JP6440411B2 (ja) | 2014-08-26 | 2014-08-26 | 物体検出装置 |
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JP2016045891A JP2016045891A (ja) | 2016-04-04 |
JP6440411B2 true JP6440411B2 (ja) | 2018-12-19 |
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US (1) | US10140526B2 (ja) |
EP (1) | EP3188118B1 (ja) |
JP (1) | JP6440411B2 (ja) |
WO (1) | WO2016031494A1 (ja) |
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JP6769477B2 (ja) * | 2016-03-10 | 2020-10-14 | 株式会社リコー | 画像処理装置、撮像装置、移動体機器制御システム、画像処理方法、及びプログラム |
JP6406289B2 (ja) * | 2016-03-14 | 2018-10-17 | オムロン株式会社 | 路面形状測定装置、測定方法、及び、プログラム |
US20170309181A1 (en) * | 2016-04-26 | 2017-10-26 | Hyundai Motor Company | Apparatus for recognizing following vehicle and method thereof |
JP6733302B2 (ja) * | 2016-05-17 | 2020-07-29 | 株式会社リコー | 画像処理装置、撮像装置、移動体機器制御システム、画像処理方法、及びプログラム |
JP6763198B2 (ja) * | 2016-05-25 | 2020-09-30 | 株式会社リコー | 画像処理装置、撮像装置、移動体機器制御システム、画像処理方法、及びプログラム |
JP6816401B2 (ja) * | 2016-08-09 | 2021-01-20 | 株式会社リコー | 画像処理装置、撮像装置、移動体機器制御システム、画像処理方法、及びプログラム |
US9928426B1 (en) * | 2016-09-16 | 2018-03-27 | Hong Kong Applied Science and Technology Research Institute Company Limited | Vehicle detection, tracking and localization based on enhanced anti-perspective transformation |
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 |
JP6950170B2 (ja) * | 2016-11-30 | 2021-10-13 | 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、情報処理方法、及びプログラム |
JP6794243B2 (ja) * | 2016-12-19 | 2020-12-02 | 日立オートモティブシステムズ株式会社 | 物体検出装置 |
JP2018136803A (ja) * | 2017-02-23 | 2018-08-30 | 株式会社日立製作所 | 画像認識システム |
JP7031157B2 (ja) * | 2017-07-18 | 2022-03-08 | 日産自動車株式会社 | 物体検出方法及び物体検出装置 |
DE112018004507T5 (de) * | 2017-10-12 | 2020-06-10 | Sony Corporation | Informationsverarbeitungseinrichtung, bewegungseinrichtung und verfahren und programm |
CN107977649B (zh) * | 2017-12-21 | 2020-02-07 | 海信集团有限公司 | 一种障碍物识别方法、装置及终端 |
DE112019001657T5 (de) * | 2018-03-29 | 2021-01-14 | Sony Corporation | Signalverarbeitungsvorrichtung und signalverarbeitungsverfahren, programm und mobiler körper |
JP7210906B2 (ja) * | 2018-05-31 | 2023-01-24 | 株式会社デンソー | 車両の自動運転制御装置及びプログラム |
CN110927724B (zh) * | 2019-11-11 | 2020-11-27 | 中国地质环境监测院 | 毫米波雷达泥石流智能监测系统与方法 |
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JP7380443B2 (ja) * | 2020-06-22 | 2023-11-15 | トヨタ自動車株式会社 | 部分画像生成装置及び部分画像生成用コンピュータプログラム |
CN112883909A (zh) * | 2021-03-16 | 2021-06-01 | 东软睿驰汽车技术(沈阳)有限公司 | 基于包围盒的障碍物位置检测方法、装置和电子设备 |
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JPH10143659A (ja) | 1996-11-06 | 1998-05-29 | Komatsu Ltd | 物体検出装置 |
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- 2014-08-26 JP JP2014171960A patent/JP6440411B2/ja active Active
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2015
- 2015-08-03 WO PCT/JP2015/071899 patent/WO2016031494A1/ja active Application Filing
- 2015-08-03 EP EP15835840.8A patent/EP3188118B1/en active Active
- 2015-08-03 US US15/500,814 patent/US10140526B2/en active Active
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Publication number | Publication date |
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US10140526B2 (en) | 2018-11-27 |
JP2016045891A (ja) | 2016-04-04 |
EP3188118A4 (en) | 2018-04-04 |
EP3188118A1 (en) | 2017-07-05 |
WO2016031494A1 (ja) | 2016-03-03 |
US20170220877A1 (en) | 2017-08-03 |
EP3188118B1 (en) | 2021-12-15 |
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