WO2004102222A8 - 物体検出装置、物体検出方法、物体検出プログラム、距離センサ - Google Patents

物体検出装置、物体検出方法、物体検出プログラム、距離センサ

Info

Publication number
WO2004102222A8
WO2004102222A8 PCT/JP2003/005927 JP0305927W WO2004102222A8 WO 2004102222 A8 WO2004102222 A8 WO 2004102222A8 JP 0305927 W JP0305927 W JP 0305927W WO 2004102222 A8 WO2004102222 A8 WO 2004102222A8
Authority
WO
WIPO (PCT)
Prior art keywords
image
calculating
distance
model
section
Prior art date
Application number
PCT/JP2003/005927
Other languages
English (en)
French (fr)
Other versions
WO2004102222A1 (ja
Inventor
Eigo Segawa
Original Assignee
Fujitsu Ltd
Eigo Segawa
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 Fujitsu Ltd, Eigo Segawa filed Critical Fujitsu Ltd
Priority to JP2004571832A priority Critical patent/JPWO2004102222A1/ja
Priority to PCT/JP2003/005927 priority patent/WO2004102222A1/ja
Publication of WO2004102222A1 publication Critical patent/WO2004102222A1/ja
Publication of WO2004102222A8 publication Critical patent/WO2004102222A8/ja
Priority to US11/117,678 priority patent/US7463184B2/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

Landscapes

  • Remote Sensing (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Wet Developing In Electrophotography (AREA)
  • Cleaning In Electrography (AREA)

Abstract

　観測対象空間に存在する少なくとも１つの物体を検出する物体検出装置であって、検出対象物体の形状を表す画像である物体モデルを算出して記録する物体モデル記録部３と、一度に観測対象空間の全体をカバーするミリ波を照射し、物体候補の距離の算出を行うミリ波距離センサ１と、視点の異なる特徴画像と距離画像を算出するステレオ画像センサ２と、物体候補を選択する制御部７と、物体モデルから照合モデルを算出するモデル変換部４と、特徴画像と距離画像から照合画像を抽出する照合画像抽出部５と、照合モデルと照合画像の類似度を算出し、最大類似度が所定の範囲内となった場合、照合画像の座標と物体候補の距離から前記物体の３次元位置を算出し、前記物体の３次元位置を外部へ出力する類似度照合部６とを備えてなる。
PCT/JP2003/005927 2003-05-13 2003-05-13 物体検出装置、物体検出方法、物体検出プログラム、距離センサ WO2004102222A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2004571832A JPWO2004102222A1 (ja) 2003-05-13 2003-05-13 物体検出装置、物体検出方法、物体検出プログラム、距離センサ
PCT/JP2003/005927 WO2004102222A1 (ja) 2003-05-13 2003-05-13 物体検出装置、物体検出方法、物体検出プログラム、距離センサ
US11/117,678 US7463184B2 (en) 2003-05-13 2005-04-29 Object detection apparatus, object detection method, object detection program, and distance sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2003/005927 WO2004102222A1 (ja) 2003-05-13 2003-05-13 物体検出装置、物体検出方法、物体検出プログラム、距離センサ

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US11/117,678 Continuation US7463184B2 (en) 2003-05-13 2005-04-29 Object detection apparatus, object detection method, object detection program, and distance sensor

Publications (2)

Publication Number Publication Date
WO2004102222A1 WO2004102222A1 (ja) 2004-11-25
WO2004102222A8 true WO2004102222A8 (ja) 2005-03-24

Family

ID=33446516

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2003/005927 WO2004102222A1 (ja) 2003-05-13 2003-05-13 物体検出装置、物体検出方法、物体検出プログラム、距離センサ

Country Status (3)

Country Link
US (1) US7463184B2 (ja)
JP (1) JPWO2004102222A1 (ja)
WO (1) WO2004102222A1 (ja)

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JP7222892B2 (ja) 2017-08-03 2023-02-15 株式会社小糸製作所 車両用照明システム、車両システム及び車両

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WO2018105136A1 (ja) * 2016-12-06 2018-06-14 本田技研工業株式会社 車両周辺情報取得装置および車両
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7222892B2 (ja) 2017-08-03 2023-02-15 株式会社小糸製作所 車両用照明システム、車両システム及び車両

Also Published As

Publication number Publication date
US7463184B2 (en) 2008-12-09
JPWO2004102222A1 (ja) 2006-07-13
US20050206553A1 (en) 2005-09-22
WO2004102222A1 (ja) 2004-11-25

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