JP6720931B2 - 車両周囲認識装置 - Google Patents

車両周囲認識装置 Download PDF

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Publication number
JP6720931B2
JP6720931B2 JP2017137853A JP2017137853A JP6720931B2 JP 6720931 B2 JP6720931 B2 JP 6720931B2 JP 2017137853 A JP2017137853 A JP 2017137853A JP 2017137853 A JP2017137853 A JP 2017137853A JP 6720931 B2 JP6720931 B2 JP 6720931B2
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Japan
Prior art keywords
shadow
vehicle
image
recognition device
feature point
Prior art date
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Application number
JP2017137853A
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English (en)
Japanese (ja)
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JP2019020956A5 (enExample
JP2019020956A (ja
Inventor
貴道 鳥倉
貴道 鳥倉
謙二 岡野
謙二 岡野
フォッケン マティアス
フォッケン マティアス
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.)
Denso Corp
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Denso Corp
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Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2017137853A priority Critical patent/JP6720931B2/ja
Priority to PCT/JP2018/026190 priority patent/WO2019013252A1/ja
Publication of JP2019020956A publication Critical patent/JP2019020956A/ja
Publication of JP2019020956A5 publication Critical patent/JP2019020956A5/ja
Priority to US16/739,472 priority patent/US11282235B2/en
Application granted granted Critical
Publication of JP6720931B2 publication Critical patent/JP6720931B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • 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
    • 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • 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
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • 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
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
JP2017137853A 2017-07-14 2017-07-14 車両周囲認識装置 Active JP6720931B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2017137853A JP6720931B2 (ja) 2017-07-14 2017-07-14 車両周囲認識装置
PCT/JP2018/026190 WO2019013252A1 (ja) 2017-07-14 2018-07-11 車両周囲認識装置
US16/739,472 US11282235B2 (en) 2017-07-14 2020-01-10 Vehicle surroundings recognition apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017137853A JP6720931B2 (ja) 2017-07-14 2017-07-14 車両周囲認識装置

Publications (3)

Publication Number Publication Date
JP2019020956A JP2019020956A (ja) 2019-02-07
JP2019020956A5 JP2019020956A5 (enExample) 2019-06-27
JP6720931B2 true JP6720931B2 (ja) 2020-07-08

Family

ID=65002005

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017137853A Active JP6720931B2 (ja) 2017-07-14 2017-07-14 車両周囲認識装置

Country Status (3)

Country Link
US (1) US11282235B2 (enExample)
JP (1) JP6720931B2 (enExample)
WO (1) WO2019013252A1 (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3776128B1 (en) * 2018-03-26 2024-02-21 Jabil Inc. Apparatus, system, and method of using depth assessment for autonomous robot navigation
US10762681B2 (en) 2018-06-26 2020-09-01 Here Global B.V. Map generation system and method for generating an accurate building shadow
US11164031B2 (en) * 2018-06-26 2021-11-02 Here Global B.V. System and method for analyzing an image of a vehicle
JP7310527B2 (ja) * 2019-10-14 2023-07-19 株式会社デンソー 障害物識別装置および障害物識別プログラム
US11328607B2 (en) * 2020-03-20 2022-05-10 Aptiv Technologies Limited System and method of detecting vacant parking spots
TWI762365B (zh) * 2021-06-29 2022-04-21 晶睿通訊股份有限公司 影像辨識方法及其影像監控設備
KR20240048533A (ko) * 2021-08-19 2024-04-15 테슬라, 인크. 시뮬레이션 콘텐트를 사용한 비전 기반 시스템 훈련
US12462575B2 (en) 2021-08-19 2025-11-04 Tesla, Inc. Vision-based machine learning model for autonomous driving with adjustable virtual camera

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3083918B2 (ja) * 1992-06-26 2000-09-04 本田技研工業株式会社 画像処理装置
JP3463858B2 (ja) * 1998-08-27 2003-11-05 矢崎総業株式会社 周辺監視装置及び方法
US7184890B2 (en) * 2003-11-24 2007-02-27 The Boeing Company Cloud shadow detection: VNIR-SWIR
JP4270183B2 (ja) * 2005-08-22 2009-05-27 トヨタ自動車株式会社 白線検出装置
JP2009031939A (ja) * 2007-07-25 2009-02-12 Advanced Telecommunication Research Institute International 画像処理装置、画像処理方法及び画像処理プログラム
CN101833749B (zh) * 2009-03-12 2012-03-28 株式会社理光 检测图像中阴影的装置和方法
JP2010237976A (ja) * 2009-03-31 2010-10-21 Kyushu Institute Of Technology 光源情報取得装置、陰影検出装置、陰影除去装置、それらの方法、及びプログラム
EP2287807A1 (en) * 2009-07-21 2011-02-23 Nikon Corporation Image processing device, image processing program, and imaging device
JP5066558B2 (ja) 2009-09-17 2012-11-07 日立オートモティブシステムズ株式会社 自車影認識装置
JP6003226B2 (ja) * 2012-05-23 2016-10-05 株式会社デンソー 車両周囲画像表示制御装置および車両周囲画像表示制御プログラム
JP5974718B2 (ja) * 2012-08-07 2016-08-23 日産自動車株式会社 車両走行支援装置及び車両走行支援方法
US9430715B1 (en) * 2015-05-01 2016-08-30 Adobe Systems Incorporated Identifying and modifying cast shadows in an image

Also Published As

Publication number Publication date
WO2019013252A1 (ja) 2019-01-17
JP2019020956A (ja) 2019-02-07
US11282235B2 (en) 2022-03-22
US20200151912A1 (en) 2020-05-14

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