JP7389729B2 - 障害物検知装置、障害物検知システム及び障害物検知方法 - Google Patents

障害物検知装置、障害物検知システム及び障害物検知方法 Download PDF

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JP7389729B2
JP7389729B2 JP2020151723A JP2020151723A JP7389729B2 JP 7389729 B2 JP7389729 B2 JP 7389729B2 JP 2020151723 A JP2020151723 A JP 2020151723A JP 2020151723 A JP2020151723 A JP 2020151723A JP 7389729 B2 JP7389729 B2 JP 7389729B2
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JP2022045947A (ja
JP2022045947A5 (https=
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マンイウー チャウ
光博 木谷
潤 小池
泰志 近江
篤史 小田
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Hitachi Ltd
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Priority to EP21866382.1A priority patent/EP4213128A4/en
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G08—SIGNALLING
    • 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
    • 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
    • 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
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • 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
    • G06T2207/30261—Obstacle

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
JP2020151723A 2020-09-10 2020-09-10 障害物検知装置、障害物検知システム及び障害物検知方法 Active JP7389729B2 (ja)

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Application Number Priority Date Filing Date Title
JP2020151723A JP7389729B2 (ja) 2020-09-10 2020-09-10 障害物検知装置、障害物検知システム及び障害物検知方法
PCT/JP2021/027275 WO2022054422A1 (ja) 2020-09-10 2021-07-21 障害物検知装置、障害物検知システム及び障害物検知方法
EP21866382.1A EP4213128A4 (en) 2020-09-10 2021-07-21 Obstacle detection device, obstacle detection system, and obstacle detection method

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JP2020151723A JP7389729B2 (ja) 2020-09-10 2020-09-10 障害物検知装置、障害物検知システム及び障害物検知方法

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12296488B2 (en) * 2022-03-10 2025-05-13 Tata Consultancy Services Limited Method and system to detect and estimate dynamic obstacles using RGB-D sensors for robot navigation

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US20250182287A1 (en) * 2022-04-06 2025-06-05 Nec Corporation Image processing apparatus, non-transitory computer readable medium in which program therefor is recorded, and method
CN114694125B (zh) * 2022-05-31 2022-08-26 杭州蓝芯科技有限公司 一种用于轨道异物识别的数据处理方法
CN115909815B (zh) * 2023-01-06 2023-06-06 广州通达汽车电气股份有限公司 基于多元数据的融合检测方法、装置、设备及存储介质
JP2024097571A (ja) * 2023-01-06 2024-07-19 株式会社日立製作所 環境認識装置並びに環境認識方法
CN117217996A (zh) * 2023-08-30 2023-12-12 大连海事大学 基于Transformer的深度图像拼接方法

Citations (5)

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JP2004028727A (ja) 2002-06-25 2004-01-29 Fuji Heavy Ind Ltd 監視システムおよび監視方法、当該監視システムにおける距離補正装置および距離補正方法
JP2019125112A (ja) 2018-01-15 2019-07-25 キヤノン株式会社 情報処理装置及びその制御方法及びプログラム、並びに、運転制御システム
JP2019526878A (ja) 2016-09-12 2019-09-19 ナイアンティック， インコーポレイテッドＮｉａｎｔｉｃ，Ｉｎｃ． 統計モデルを用いた画像データからの深度予測
JP2020020612A (ja) 2018-07-30 2020-02-06 株式会社リコー 測距装置、測距方法、プログラム、移動体
JP2020126607A (ja) 2019-01-31 2020-08-20 株式会社ストラドビジョンＳｔｒａｄｖｉｓｉｏｎ，Ｉｎｃ． カメラから取得されたイメージと、それに対応するレーダまたはライダを通じて取得されたポイントクラウドマップをニューラルネットワークのそれぞれのコンボリューションステージごとに統合する学習方法及び学習装置、そしてそれを利用したテスト方法及びテスト装置

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US7786898B2 (en) 2006-05-31 2010-08-31 Mobileye Technologies Ltd. Fusion of far infrared and visible images in enhanced obstacle detection in automotive applications
JP5587930B2 (ja) * 2012-03-09 2014-09-10 日立オートモティブシステムズ株式会社 距離算出装置及び距離算出方法
US20150381972A1 (en) 2014-06-30 2015-12-31 Microsoft Corporation Depth estimation using multi-view stereo and a calibrated projector
WO2017057056A1 (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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004028727A (ja) 2002-06-25 2004-01-29 Fuji Heavy Ind Ltd 監視システムおよび監視方法、当該監視システムにおける距離補正装置および距離補正方法
JP2019526878A (ja) 2016-09-12 2019-09-19 ナイアンティック， インコーポレイテッドＮｉａｎｔｉｃ，Ｉｎｃ． 統計モデルを用いた画像データからの深度予測
JP2019125112A (ja) 2018-01-15 2019-07-25 キヤノン株式会社 情報処理装置及びその制御方法及びプログラム、並びに、運転制御システム
JP2020020612A (ja) 2018-07-30 2020-02-06 株式会社リコー 測距装置、測距方法、プログラム、移動体
JP2020126607A (ja) 2019-01-31 2020-08-20 株式会社ストラドビジョンＳｔｒａｄｖｉｓｉｏｎ，Ｉｎｃ． カメラから取得されたイメージと、それに対応するレーダまたはライダを通じて取得されたポイントクラウドマップをニューラルネットワークのそれぞれのコンボリューションステージごとに統合する学習方法及び学習装置、そしてそれを利用したテスト方法及びテスト装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12296488B2 (en) * 2022-03-10 2025-05-13 Tata Consultancy Services Limited Method and system to detect and estimate dynamic obstacles using RGB-D sensors for robot navigation

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EP4213128A4 (en) 2024-09-25
JP2022045947A (ja) 2022-03-23
WO2022054422A1 (ja) 2022-03-17
EP4213128A1 (en) 2023-07-19

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