MX370052B - Dispositivo de deteccion de escalon y metodo de deteccion de escalon. - Google Patents

Dispositivo de deteccion de escalon y metodo de deteccion de escalon.

Info

Publication number
MX370052B
MX370052B MX2018001343A MX2018001343A MX370052B MX 370052 B MX370052 B MX 370052B MX 2018001343 A MX2018001343 A MX 2018001343A MX 2018001343 A MX2018001343 A MX 2018001343A MX 370052 B MX370052 B MX 370052B
Authority
MX
Mexico
Prior art keywords
step detection
road surface
height
detection device
curve
Prior art date
Application number
MX2018001343A
Other languages
English (en)
Other versions
MX2018001343A (es
Inventor
SANO Yasuhito
Yanagi Takura
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 MX2018001343A publication Critical patent/MX2018001343A/es
Publication of MX370052B publication Critical patent/MX370052B/es

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/285—Analysis of motion using a sequence of stereo image pairs
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • 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
    • G06V20/588—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
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • 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
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • 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
    • 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
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • 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
    • G06T2207/30256—Lane; Road marking
    • 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
    • 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
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • 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
    • 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

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)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Image Analysis (AREA)

Abstract

Un dispositivo de detección de escalón, que incluye una unidad de medición de distancia que detecta la altura de la superficie del camino alrededor de un vehículo, aproxima con una curva, la gradiente de la superficie del camino en una región desplazable en la dirección de anchura de vehículo, con base en la altura de la superficie del camino, y detecta un escalón en la superficie del camino, con base en el grado de concordancia de la altura de un punto de medición con relación a la curva y el grado de concordancia de la altura de un punto de medición con relación a una curva con la cual se aproxima la gradiente de la superficie del camino en una región extendida definida extendiendo la región desplazable en la dirección de anchura de vehículo.
MX2018001343A 2015-08-04 2015-08-04 Dispositivo de deteccion de escalon y metodo de deteccion de escalon. MX370052B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/072085 WO2017022080A1 (ja) 2015-08-04 2015-08-04 段差検出装置及び段差検出方法

Publications (2)

Publication Number Publication Date
MX2018001343A MX2018001343A (es) 2018-06-15
MX370052B true MX370052B (es) 2019-11-29

Family

ID=57942691

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2018001343A MX370052B (es) 2015-08-04 2015-08-04 Dispositivo de deteccion de escalon y metodo de deteccion de escalon.

Country Status (9)

Country Link
US (1) US10410070B2 (es)
EP (1) EP3333829B1 (es)
JP (1) JP6451858B2 (es)
KR (2) KR102079882B1 (es)
CN (1) CN107851390B (es)
CA (1) CA2994652C (es)
MX (1) MX370052B (es)
RU (1) RU2686279C1 (es)
WO (1) WO2017022080A1 (es)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
MX2018001342A (es) * 2015-08-04 2018-06-15 Nissan Motor Dispositivo de deteccion de escalon y metodo de deteccion de escalon.
US11151395B2 (en) 2017-08-07 2021-10-19 Hitachi Astemo, Ltd. Roadside object detection device, roadside object detection method, and roadside object detection system
KR20200090527A (ko) * 2019-01-21 2020-07-29 현대자동차주식회사 차선 인식 장치 및 그 방법
JP7257814B2 (ja) * 2019-02-21 2023-04-14 日立Astemo株式会社 走行路認識装置
KR102176376B1 (ko) * 2019-06-24 2020-11-10 현대오트론 주식회사 물체 거리 측정 장치 및 방법

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4523095B2 (ja) * 1999-10-21 2010-08-11 富士通テン株式会社 情報処理装置、情報統合装置および情報処理方法
JP3733875B2 (ja) * 2000-09-29 2006-01-11 日産自動車株式会社 道路白線認識装置
JP3964287B2 (ja) 2002-09-04 2007-08-22 富士重工業株式会社 車外監視装置、及び、この車外監視装置を備えた走行制御装置
JP3956926B2 (ja) * 2003-09-24 2007-08-08 アイシン精機株式会社 路面走行レーン検出装置
JP4609695B2 (ja) * 2003-10-21 2011-01-12 日本精機株式会社 車両用表示装置
RU53766U1 (ru) * 2005-07-11 2006-05-27 Государственное образовательное учреждение высшего профессионального образования "Хабаровский государственный технический университет" Прибор для измерения шероховатости дорожного покрытия
JP2009053818A (ja) 2007-08-24 2009-03-12 Toshiba Corp 画像処理装置及びその方法
JP5089545B2 (ja) * 2008-09-17 2012-12-05 日立オートモティブシステムズ株式会社 道路境界検出判断装置
JP5094658B2 (ja) * 2008-09-19 2012-12-12 日立オートモティブシステムズ株式会社 走行環境認識装置
CN101644023B (zh) * 2009-08-21 2011-01-26 赵怀志 一种路面平整度检测方法
JP2013205130A (ja) 2012-03-28 2013-10-07 Zenrin Co Ltd 路面形状データの生成方法、路面形状データ生成装置およびコンピュータプログラム
JP5829980B2 (ja) * 2012-06-19 2015-12-09 トヨタ自動車株式会社 路側物検出装置
CN103760569B (zh) * 2013-12-31 2016-03-30 西安交通大学 一种基于激光雷达的可行驶区域检测方法
JP5989701B2 (ja) * 2014-03-24 2016-09-07 トヨタ自動車株式会社 境界検出装置および境界検出方法
JP2016001464A (ja) * 2014-05-19 2016-01-07 株式会社リコー 処理装置、処理システム、処理プログラム、及び、処理方法
JP6434743B2 (ja) 2014-08-19 2018-12-05 日野自動車株式会社 走路端部推定装置
CN104636763B (zh) * 2014-12-01 2018-10-09 北京工业大学 一种基于无人驾驶车的道路与障碍物检测方法
JP6233345B2 (ja) * 2015-04-17 2017-11-22 トヨタ自動車株式会社 路面勾配検出装置

Also Published As

Publication number Publication date
US20180225525A1 (en) 2018-08-09
CN107851390A (zh) 2018-03-27
CN107851390B (zh) 2020-06-30
CA2994652A1 (en) 2017-02-09
EP3333829B1 (en) 2019-10-09
JPWO2017022080A1 (ja) 2018-05-24
CA2994652C (en) 2019-09-10
MX2018001343A (es) 2018-06-15
EP3333829A4 (en) 2018-08-08
RU2686279C1 (ru) 2019-04-24
KR20180022954A (ko) 2018-03-06
WO2017022080A1 (ja) 2017-02-09
JP6451858B2 (ja) 2019-01-16
US10410070B2 (en) 2019-09-10
EP3333829A1 (en) 2018-06-13
KR102079882B1 (ko) 2020-02-20
KR20190101491A (ko) 2019-08-30

Similar Documents

Publication Publication Date Title
MX2015005540A (es) Previsualizacion de irregularidades de la carretera con historial del recorrido.
IL247446A0 (en) Method and device for detecting contours of vehicles based on point cloud data
GB2539798B (en) Method and device for the detection of objects in the environment of a vehicle
MX2015005462A (es) Transporte a demanda.
PH12016501147B1 (en) Method and apparatus for causing sending of a parking directive
MX2018014594A (es) Metodo de deteccion de objetos y aparato de deteccion de objetos.
MX370052B (es) Dispositivo de deteccion de escalon y metodo de deteccion de escalon.
EP3220310A4 (en) Detection method and device for detecting fingerprint
HK1219010A1 (zh) 基於指紋來檢測廣告的系統和方法
MX2017005116A (es) Dispositivo de calculo de la ruta de desplazamiento.
GB2519941B (en) Method and apparatus for detecting irregularities on device
ZA201400440B (en) Method for measuring the height profile of a vehicle passing on a road
EP2961036A4 (en) DEVICE FOR OBJECT DETECTION, PROCEDURE FOR FREEDOM OBJECT DETECTION AND CONTACTLESS LOADING SYSTEM
MX2018000815A (es) Dispositivo de guiado de ruta y metodo de guiado de ruta.
HK1205819A1 (en) Method for determining vehicle velocity on road and device thereof
EP2961037A4 (en) DEVICE FOR OBJECT DETECTION, PROCEDURE FOR FREEDOM OBJECT DETECTION AND CONTACTLESS LOADING SYSTEM
GB2577949B (en) Method, device and computer-readable storage medium with instructions for determining the lateral position of a vehicle relative to the lanes of a road
MX2019003998A (es) Metodo de evaluacion de vehiculo, metodo de correcion de ruta de desplazamiento, dispositivo de evaluacion de vehiculo, y dispositivo de correccion de ruta de desplazamiento.
MX2016010744A (es) Dispositivo de calculo de ubicacion local y metodo de calculo de ubicacion local.
EP3411852A4 (en) SENSOR DEVICE, SYSTEM AND METHOD FOR DETECTING DAMAGE TO THE CHASSIS OF A VEHICLE
MX2017005117A (es) Dispositivo de calculo de la ruta de desplazamiento.
SG11201806475QA (en) Charging device and positional deviation detection method
GB201622154D0 (en) Sensor system for a vehicle and method for determining assessment threat
GB2541149B (en) Position determination device, leak detection system, position determination method, and computer-readable recording medium
IN2014MU02141A (es)

Legal Events

Date Code Title Description
FG Grant or registration