MX339625B - Dispositivo de deteccion de objetos tridimensionales. - Google Patents

Dispositivo de deteccion de objetos tridimensionales.

Info

Publication number
MX339625B
MX339625B MX2014009974A MX2014009974A MX339625B MX 339625 B MX339625 B MX 339625B MX 2014009974 A MX2014009974 A MX 2014009974A MX 2014009974 A MX2014009974 A MX 2014009974A MX 339625 B MX339625 B MX 339625B
Authority
MX
Mexico
Prior art keywords
dimensional object
detection area
vehicle
detection
bird
Prior art date
Application number
MX2014009974A
Other languages
English (en)
Other versions
MX2014009974A (es
Inventor
Hayakawa Yasuhisa
Fukata Osamu
Original Assignee
Nissan Motor
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nissan Motor filed Critical Nissan Motor
Publication of MX2014009974A publication Critical patent/MX2014009974A/es
Publication of MX339625B publication Critical patent/MX339625B/es

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/38—Registration of image sequences
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0007—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/08—Projecting images onto non-planar surfaces, e.g. geodetic screens
    • 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
    • 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
    • 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
    • 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
    • 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
    • G06T2207/10004—Still image; Photographic 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • 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
    • G06T2207/30236—Traffic on road, railway or crossing
    • 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
    • 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
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional [3D] objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

Este dispositivo de detección de objeto tridimensional se provee con: una unidad (10) de formación de imágenes para formar imágenes de la parte trasera de un vehículo; una unidad 5 (34) de establecimiento de áreas de detección que establece un área de detección predeterminada en las secciones del lado izquierdo y derecho de la parte trasera del vehículo; una unidad (31) de conversión de imagen que convierte la perspectiva de una imagen capturada para crear una imagen de vista a ojo de pájaro; una unidad (32, 33) de detección de objeto tridimensional que, utilizando una imagen de diferencia en la cual las posiciones de las imágenes de vista a ojo de pájaro tomadas en diferentes tiempos se alinean como una vista a ojo de pájaro, genera información de la forma de onda de diferencia contando un número de pixeles que indican una diferencia predeterminada y llevando a cabo la distribución de frecuencias para dichos pixeles, y con base en la información de la forma de onda de diferencia, lleva a cabo la detección de objetos tridimensionales en el área de detección; y una unidad (33) de cálculo de la velocidad de movimiento relativo que calcula la velocidad de movimiento relativo de un objeto tridimensional con respecto al vehículo con base en la información de la forma de onda de diferencia. El dispositivo de detección de objeto tridimensional se caracteriza en que la unidad (34) de establecimiento de áreas de detección agranda el área de detección hacia la parte trasera de la dirección de viaje del vehículo cuando un objeto tridimensional se detecta en el área de detección y la velocidad de movimiento relativo del objeto tridimensional es mayor que un valor predeterminado.
MX2014009974A 2012-02-23 2013-02-13 Dispositivo de deteccion de objetos tridimensionales. MX339625B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012037482 2012-02-23
PCT/JP2013/053328 WO2013125404A1 (ja) 2012-02-23 2013-02-13 立体物検出装置

Publications (2)

Publication Number Publication Date
MX2014009974A MX2014009974A (es) 2014-09-08
MX339625B true MX339625B (es) 2016-06-02

Family

ID=49005591

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2014009974A MX339625B (es) 2012-02-23 2013-02-13 Dispositivo de deteccion de objetos tridimensionales.

Country Status (9)

Country Link
US (1) US9558556B2 (es)
EP (1) EP2819090B1 (es)
JP (1) JP5924399B2 (es)
CN (1) CN104115186B (es)
BR (1) BR112014020316B1 (es)
MX (1) MX339625B (es)
MY (1) MY172250A (es)
RU (1) RU2629433C2 (es)
WO (1) WO2013125404A1 (es)

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JP6054777B2 (ja) * 2013-03-01 2016-12-27 日立オートモティブシステムズ株式会社 ステレオカメラ装置
JP6165085B2 (ja) * 2014-03-07 2017-07-19 日立建機株式会社 作業機械の周辺監視装置
CN110460792B (zh) * 2014-08-19 2022-03-08 松下知识产权经营株式会社 再现方法及再现装置
US10019805B1 (en) * 2015-09-29 2018-07-10 Waymo Llc Detecting vehicle movement through wheel movement
JP2017114155A (ja) * 2015-12-21 2017-06-29 三菱自動車工業株式会社 運転支援装置
JP6477562B2 (ja) * 2016-03-18 2019-03-06 株式会社デンソー 情報処理装置
US9931981B2 (en) 2016-04-12 2018-04-03 Denso International America, Inc. Methods and systems for blind spot monitoring with rotatable blind spot sensor
US9975480B2 (en) * 2016-04-12 2018-05-22 Denso International America, Inc. Methods and systems for blind spot monitoring with adaptive alert zone
US9947226B2 (en) 2016-04-12 2018-04-17 Denso International America, Inc. Methods and systems for blind spot monitoring with dynamic detection range
US9994151B2 (en) 2016-04-12 2018-06-12 Denso International America, Inc. Methods and systems for blind spot monitoring with adaptive alert zone
US10336326B2 (en) * 2016-06-24 2019-07-02 Ford Global Technologies, Llc Lane detection systems and methods
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KR102640423B1 (ko) * 2017-01-31 2024-02-26 삼성전자주식회사 음성 입력 처리 방법, 이를 지원하는 전자 장치, 및 시스템
EP3696788B1 (en) * 2017-10-10 2022-08-10 Nissan Motor Co., Ltd. Driving control method and driving control apparatus
CN109344677B (zh) * 2017-11-07 2021-01-15 长城汽车股份有限公司 识别立体物的方法、装置、车辆和存储介质
CN109145764B (zh) * 2018-07-27 2020-10-27 中国铁道科学研究院集团有限公司 综合检测车的多组检测波形的未对齐区段识别方法及装置
KR102483649B1 (ko) * 2018-10-16 2023-01-02 삼성전자주식회사 차량 위치 결정 방법 및 차량 위치 결정 장치
JP6859374B2 (ja) * 2019-01-11 2021-04-14 本田技研工業株式会社 予測装置、予測方法、およびプログラム
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US11379995B2 (en) * 2020-07-15 2022-07-05 Jingdong Digits Technology Holding Co., Ltd. System and method for 3D object detection and tracking with monocular surveillance cameras
CN112991535B (zh) * 2021-04-19 2021-07-27 中国人民解放军国防科技大学 高度信息增强墨卡托地图的三维空间态势表征方法和装置
KR102607947B1 (ko) * 2021-11-26 2023-12-04 이인텔리전스 주식회사 차량 제동 제어 장치 및 제어 방법
CN115880973B (zh) * 2023-02-02 2023-05-05 北京东方瑞丰航空技术有限公司 伪球面坐标系的飞行模拟机视景生成方法、装置和设备

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Also Published As

Publication number Publication date
EP2819090A4 (en) 2015-06-03
EP2819090B1 (en) 2022-08-24
MX2014009974A (es) 2014-09-08
BR112014020316A2 (pt) 2021-05-25
EP2819090A1 (en) 2014-12-31
MY172250A (en) 2019-11-19
RU2014138290A (ru) 2016-04-10
CN104115186A (zh) 2014-10-22
US9558556B2 (en) 2017-01-31
JPWO2013125404A1 (ja) 2015-07-30
CN104115186B (zh) 2018-08-28
US20150302586A1 (en) 2015-10-22
BR112014020316B1 (pt) 2021-09-14
JP5924399B2 (ja) 2016-05-25
RU2629433C2 (ru) 2017-08-29
WO2013125404A1 (ja) 2013-08-29

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