MX355397B - Aparato de deteccion de objetivos y metodo de deteccion de objetivos. - Google Patents

Aparato de deteccion de objetivos y metodo de deteccion de objetivos.

Info

Publication number
MX355397B
MX355397B MX2016014733A MX2016014733A MX355397B MX 355397 B MX355397 B MX 355397B MX 2016014733 A MX2016014733 A MX 2016014733A MX 2016014733 A MX2016014733 A MX 2016014733A MX 355397 B MX355397 B MX 355397B
Authority
MX
Mexico
Prior art keywords
vehicle
object detection
detection region
detection device
periphery
Prior art date
Application number
MX2016014733A
Other languages
English (en)
Other versions
MX2016014733A (es
Inventor
Nishiuchi Hidekazu
Yamanoi Daiki
Andou Toshiyuki
Satoh Hiroshi
MATSUO Haruo
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 MX2016014733A publication Critical patent/MX2016014733A/es
Publication of MX355397B publication Critical patent/MX355397B/es

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/98—Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
    • 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
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • 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
    • 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
    • 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
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)
  • Instructional Devices (AREA)

Abstract

Un aparato (100) de detección de objetivos adquiere (11) una imagen mediante la formación de imágenes de los alrededores de un vehículo, detecta (12) una posición propia del vehículo con base en una cantidad de movimiento del vehículo a partir de una posición inicial del mismo, y estima (13) una posición relativa de un objetivo, localizado alrededor del vehículo, con respecto al vehículo con base en la posición propia y la información sobre una posición del objetivo en un mapa. El aparato de detección de objetivos establece (14) un área de detección para el objetivo dentro de la imagen con base en la posición relativa del objetivo con respecto al vehículo, y detecta (15) el objetivo a partir del área de detección. El aparato de detección de objetivos estima (16) el error contenido en la posición propia con base en la cantidad de movimiento del vehículo a partir de la posición inicial, y ajusta (14) el tamaño del área de detección para el objetivo de acuerdo con el error.
MX2016014733A 2014-05-20 2014-05-20 Aparato de deteccion de objetivos y metodo de deteccion de objetivos. MX355397B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/063351 WO2015177865A1 (ja) 2014-05-20 2014-05-20 物標検出装置及び物標検出方法

Publications (2)

Publication Number Publication Date
MX2016014733A MX2016014733A (es) 2017-03-06
MX355397B true MX355397B (es) 2018-04-18

Family

ID=54553563

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016014733A MX355397B (es) 2014-05-20 2014-05-20 Aparato de deteccion de objetivos y metodo de deteccion de objetivos.

Country Status (8)

Country Link
US (1) US9767372B2 (es)
EP (1) EP3147629B1 (es)
JP (1) JP6222353B2 (es)
CN (1) CN106461403B (es)
BR (1) BR112016026372B1 (es)
MX (1) MX355397B (es)
RU (1) RU2633641C1 (es)
WO (1) WO2015177865A1 (es)

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EP3104189B1 (en) * 2015-06-11 2020-09-30 Veoneer Sweden AB Misalignment estimation for a vehicle radar system
JP6756101B2 (ja) * 2015-12-04 2020-09-16 トヨタ自動車株式会社 物体認識装置
JP6380422B2 (ja) * 2016-02-05 2018-08-29 トヨタ自動車株式会社 自動運転システム
RU2715500C1 (ru) * 2016-07-26 2020-02-28 Ниссан Мотор Ко.,Лтд. Способ оценки собственного положения и устройство оценки собственного положения
JPWO2018212280A1 (ja) * 2017-05-19 2020-03-19 パイオニア株式会社 測定装置、測定方法およびプログラム
DE102017220139A1 (de) * 2017-11-13 2019-05-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bereitstellen einer Position wenigstens eines Objekts
WO2019185165A1 (en) * 2018-03-30 2019-10-03 Toyota Motor Europe System and method for adjusting external position information of a vehicle
US10839522B2 (en) * 2018-05-11 2020-11-17 Toyota Research Institute, Inc. Adaptive data collecting and processing system and methods
EP3904995A4 (en) * 2018-12-28 2022-02-23 Panasonic Intellectual Property Management Co., Ltd. LOCATION DEVICE
CN112149659B (zh) * 2019-06-27 2021-11-09 浙江商汤科技开发有限公司 定位方法及装置、电子设备和存储介质
JP7227112B2 (ja) * 2019-09-27 2023-02-21 日立Astemo株式会社 物体検出装置、走行制御システム、および走行制御方法
BR112022008335A2 (pt) * 2019-11-12 2022-07-26 Nissan Motor Método de reconhecimento de sinal de trânsito e dispositivo de reconhecimento de sinal de trânsito
EP3825731B1 (de) * 2019-11-21 2022-01-05 Sick Ag Optoelektronischer sicherheitssensor und verfahren zur sicheren bestimmung der eigenen position
EP3929613A1 (en) * 2020-06-22 2021-12-29 Carnegie Robotics, LLC A method for navigating a movable device along an inclined surface
EP3929690B1 (en) 2020-06-22 2025-12-03 Carnegie Robotics, LLC A method and a system for analyzing a scene, room or venue by determining angles from imaging elements to visible navigation elements
EP3988899B1 (en) * 2020-10-23 2024-05-22 Atlantic Inertial Systems Limited Terrain referenced navigation system
JP2023111192A (ja) * 2022-01-31 2023-08-10 本田技研工業株式会社 画像処理装置、移動体制御装置、画像処理方法、およびプログラム
CN115993089B (zh) * 2022-11-10 2023-08-15 山东大学 基于pl-icp的在线四舵轮agv内外参标定方法
KR102731628B1 (ko) * 2024-03-04 2024-11-18 국방과학연구소 관성항법 장치의 자세 오차 보정 방법 및 시스템

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Also Published As

Publication number Publication date
EP3147629A4 (en) 2017-04-05
MX2016014733A (es) 2017-03-06
JP6222353B2 (ja) 2017-11-08
BR112016026372A2 (es) 2017-08-15
EP3147629A1 (en) 2017-03-29
US20170177958A1 (en) 2017-06-22
WO2015177865A1 (ja) 2015-11-26
EP3147629B1 (en) 2019-07-10
CN106461403B (zh) 2019-02-15
US9767372B2 (en) 2017-09-19
JPWO2015177865A1 (ja) 2017-04-20
RU2633641C1 (ru) 2017-10-16
CN106461403A (zh) 2017-02-22
BR112016026372B1 (pt) 2022-03-03

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