JP6970577B2 - 周辺監視装置および周辺監視方法 - Google Patents
周辺監視装置および周辺監視方法 Download PDFInfo
- Publication number
- JP6970577B2 JP6970577B2 JP2017192069A JP2017192069A JP6970577B2 JP 6970577 B2 JP6970577 B2 JP 6970577B2 JP 2017192069 A JP2017192069 A JP 2017192069A JP 2017192069 A JP2017192069 A JP 2017192069A JP 6970577 B2 JP6970577 B2 JP 6970577B2
- Authority
- JP
- Japan
- Prior art keywords
- parallax
- distance
- parallax value
- value
- error range
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
- H04N13/128—Adjusting depth or disparity
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/03—Brake assistants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
-
- 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
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- 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
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
Description
Zi=B×F/di … (1)
df=B×F/Zf=B×F/{Zo(1+ΔZ/100)} … (2)
dn=B×F/Zn=B×F/{Zo(1−ΔZ/100)} … (3)
dc=(df+dn)/2 … (4)
ko=dc/do=(df+dn)/(B×F/Zo) … (5)
Z=(B×F)/(k×d) … (6)
Claims (3)
- 撮像装置(21,22)を用いて対象物を異なる位置から撮影した複数の画像に基づいて、前記対象物が存在する画素領域の視差値を算出する視差算出部(110)と、
前記撮像装置から前記対象物までの距離を算出する距離算出部(120)と、を備え、
前記距離算出部は、
前記撮像装置から前記対象物までの実際の距離である距離真値に基づいて算出された視差真値と、前記撮像装置から前記対象物までの距離の誤差範囲に対応する視差値の誤差範囲とに基づいて、前記視差算出部によって算出された視差値を大きくする視差補正部(122)を備え、
前記距離算出部は、前記視差補正部によって補正された視差値に基づいて前記撮像装置から前記対象物までの距離を算出する、車両の周辺監視装置(10)。 - 前記視差補正部は、前記視差真値を前記視差値の誤差範囲の中心に変換する補正パラメータを用いて前記視差算出部によって算出された視差値を補正する請求項1に記載の周辺監視装置。
- 撮像装置を用いて対象物を異なる位置から撮影した複数の画像に基づいて、前記対象物が存在する画素領域の視差値を算出する視差算出ステップ(S102)と、
前記撮像装置から前記対象物までの距離を算出する距離算出ステップ(S103〜S106)と、を含み、
前記距離算出ステップは、
前記撮像装置から前記対象物までの実際の距離である距離真値に基づいて算出された視差真値と、前記撮像装置から前記対象物までの距離の誤差範囲に対応する視差値の誤差範囲とに基づいて、前記視差算出ステップによって算出された視差値を大きくする視差補正ステップ(S104,S105)を含み、
前記距離算出ステップは、前記視差補正ステップによって補正された視差値に基づいて前記撮像装置から前記対象物までの距離を算出する、車両の周辺監視方法。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017192069A JP6970577B2 (ja) | 2017-09-29 | 2017-09-29 | 周辺監視装置および周辺監視方法 |
US16/142,499 US10719949B2 (en) | 2017-09-29 | 2018-09-26 | Method and apparatus for monitoring region around vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017192069A JP6970577B2 (ja) | 2017-09-29 | 2017-09-29 | 周辺監視装置および周辺監視方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019067150A JP2019067150A (ja) | 2019-04-25 |
JP6970577B2 true JP6970577B2 (ja) | 2021-11-24 |
Family
ID=65897836
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017192069A Active JP6970577B2 (ja) | 2017-09-29 | 2017-09-29 | 周辺監視装置および周辺監視方法 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10719949B2 (ja) |
JP (1) | JP6970577B2 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6970577B2 (ja) * | 2017-09-29 | 2021-11-24 | 株式会社デンソー | 周辺監視装置および周辺監視方法 |
JP6920159B2 (ja) * | 2017-09-29 | 2021-08-18 | 株式会社デンソー | 車両の周辺監視装置と周辺監視方法 |
US10460512B2 (en) * | 2017-11-07 | 2019-10-29 | Microsoft Technology Licensing, Llc | 3D skeletonization using truncated epipolar lines |
DE102019212021B4 (de) * | 2019-08-09 | 2024-02-08 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Feststellen eines Parallaxenproblems in Sensordaten zweier Sensoren |
CN111835811B (zh) * | 2019-10-12 | 2023-07-18 | 广州骑安科技有限公司 | 用于校正车辆位置的方法、电子设备和计算机可读介质 |
CN111986248B (zh) * | 2020-08-18 | 2024-02-09 | 东软睿驰汽车技术(沈阳)有限公司 | 多目视觉感知方法、装置及自动驾驶汽车 |
CN112767426B (zh) * | 2021-01-07 | 2023-11-17 | 珠海格力电器股份有限公司 | 一种目标匹配方法、装置和机器人 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05265547A (ja) | 1992-03-23 | 1993-10-15 | Fuji Heavy Ind Ltd | 車輌用車外監視装置 |
JP4861574B2 (ja) * | 2001-03-28 | 2012-01-25 | パナソニック株式会社 | 運転支援装置 |
JP4248212B2 (ja) * | 2002-09-24 | 2009-04-02 | 富士重工業株式会社 | ステレオ画像処理装置およびステレオ画像処理方法 |
JP2004240480A (ja) * | 2003-02-03 | 2004-08-26 | Matsushita Electric Ind Co Ltd | 運転支援装置 |
US6956469B2 (en) * | 2003-06-13 | 2005-10-18 | Sarnoff Corporation | Method and apparatus for pedestrian detection |
US7486803B2 (en) * | 2003-12-15 | 2009-02-03 | Sarnoff Corporation | Method and apparatus for object tracking prior to imminent collision detection |
JP4914234B2 (ja) * | 2007-01-31 | 2012-04-11 | 富士重工業株式会社 | 先行車両検出装置 |
JP5280768B2 (ja) * | 2008-08-18 | 2013-09-04 | 本田技研工業株式会社 | 車両周辺監視装置 |
DE102009009047A1 (de) * | 2009-02-16 | 2010-08-19 | Daimler Ag | Verfahren zur Objektdetektion |
ATE527620T1 (de) * | 2009-02-17 | 2011-10-15 | Autoliv Dev | Verfahren und system zur automatischen detektion von objekten vor einem kraftfahrzeug |
US9113142B2 (en) * | 2012-01-06 | 2015-08-18 | Thomson Licensing | Method and device for providing temporally consistent disparity estimations |
US10178373B2 (en) * | 2013-08-16 | 2019-01-08 | Qualcomm Incorporated | Stereo yaw correction using autofocus feedback |
CN105163103B (zh) * | 2014-06-13 | 2017-10-27 | 株式会社理光 | 用层叠结构来表示立体图像以分析图像中的目标的技术 |
TWI500904B (zh) * | 2014-09-18 | 2015-09-21 | Vivotek Inc | 立體攝影機及用來測量立體攝影機與基準面之距離的自動測距方法 |
KR102275310B1 (ko) * | 2017-04-20 | 2021-07-12 | 현대자동차주식회사 | 자동차 주변의 장애물 검출 방법 |
JP6970577B2 (ja) * | 2017-09-29 | 2021-11-24 | 株式会社デンソー | 周辺監視装置および周辺監視方法 |
JP6944328B2 (ja) * | 2017-09-29 | 2021-10-06 | 株式会社デンソー | 車両の周辺監視装置と周辺監視方法 |
-
2017
- 2017-09-29 JP JP2017192069A patent/JP6970577B2/ja active Active
-
2018
- 2018-09-26 US US16/142,499 patent/US10719949B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2019067150A (ja) | 2019-04-25 |
US10719949B2 (en) | 2020-07-21 |
US20190102898A1 (en) | 2019-04-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6970577B2 (ja) | 周辺監視装置および周辺監視方法 | |
EP3114430B1 (en) | Calibration method, calibration device, and computer program product | |
US6381360B1 (en) | Apparatus and method for stereoscopic image processing | |
JP2008039491A (ja) | ステレオ画像処理装置 | |
US20150042800A1 (en) | Apparatus and method for providing avm image | |
JP6561512B2 (ja) | 視差値導出装置、移動体、ロボット、視差値導出方法、視差値生産方法及びプログラム | |
JP5752618B2 (ja) | ステレオ視差算出装置 | |
KR101449160B1 (ko) | 차량의 사각지대 정보 제공 장치 및 방법 | |
JP6975003B2 (ja) | 周辺監視装置およびその校正方法 | |
JP6544257B2 (ja) | 情報処理システム、情報処理方法及び情報処理プログラム | |
JP6035774B2 (ja) | 画像処理装置、画像処理方法、及び車両 | |
JP6071422B2 (ja) | 画像処理装置 | |
JP2019061303A (ja) | 車両の周辺監視装置と周辺監視方法 | |
US10789732B2 (en) | Apparatus and method for monitoring surroundings of vehicle | |
JP6241083B2 (ja) | 撮像装置及び視差検出方法 | |
JP2006072757A (ja) | 物体検出装置 | |
WO2015182771A1 (ja) | 撮像装置、画像処理装置、画像処理方法およびコンピュータプログラム | |
JP6985872B2 (ja) | 車両の周辺監視装置と周辺監視方法 | |
JP2018116620A (ja) | 画像処理装置、画像処理システムおよび画像処理方法 | |
JP2019164837A (ja) | 情報処理システム、情報処理方法及び情報処理プログラム | |
JP4435525B2 (ja) | ステレオ画像処理装置 | |
WO2020121757A1 (ja) | 画像処理装置 | |
KR20120017743A (ko) | 차량 전방위 감시를 위한 영상 보정 방법 | |
EP4030746A1 (en) | Image processing device and stereo camera device using same | |
JP4817901B2 (ja) | 相関評価システムおよび相関評価方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200818 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210817 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210924 |
|
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: 20211005 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20211029 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6970577 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |