WO2021152340A8 - 物体認識方法及び物体認識装置 - Google Patents

物体認識方法及び物体認識装置 Download PDF

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Publication number
WO2021152340A8
WO2021152340A8 PCT/IB2020/000056 IB2020000056W WO2021152340A8 WO 2021152340 A8 WO2021152340 A8 WO 2021152340A8 IB 2020000056 W IB2020000056 W IB 2020000056W WO 2021152340 A8 WO2021152340 A8 WO 2021152340A8
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WO
WIPO (PCT)
Prior art keywords
positions
object recognition
vehicle
captured image
partial region
Prior art date
Application number
PCT/IB2020/000056
Other languages
English (en)
French (fr)
Other versions
WO2021152340A1 (ja
Inventor
朋子 黒飛
邦昭 野田
尭史 池上
治夫 松尾
Original Assignee
日産自動車株式会社
ルノー エス． ア． エス．
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 日産自動車株式会社, ルノー エス． ア． エス． filed Critical 日産自動車株式会社
Priority to PCT/IB2020/000056 priority Critical patent/WO2021152340A1/ja
Priority to US17/795,816 priority patent/US20230106443A1/en
Priority to CN202080095068.6A priority patent/CN115038990A/zh
Priority to EP20916508.3A priority patent/EP4099060B1/en
Priority to JP2021573619A priority patent/JPWO2021152340A1/ja
Publication of WO2021152340A1 publication Critical patent/WO2021152340A1/ja
Publication of WO2021152340A8 publication Critical patent/WO2021152340A8/ja

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Classifications

    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • 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
    • 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; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
    • 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
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • 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
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20021—Dividing image into blocks, subimages or windows
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20068—Projection on vertical or horizontal image axis
    • 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
    • G06T2207/30196—Human being; Person
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)

Abstract

物体認識方法では、自車両（1）の周辺の物体（100, 101）の表面上の複数位置を所定方向に沿って検出して点群を取得し、自車両の周辺の撮像画像を生成し、取得した点群に含まれる点をグループ化して物体候補点群（p1〜p21）に区分し、物体候補点群に含まれる点である物体候補点のうち、隣接する物体候補点間の自車両からの距離変化が所定閾値以下から所定閾値よりも大きくなる位置（p1、p7、p10、p21）を、物体（100,101）の外端位置である境界位置候補として抽出し、画像認識処理によって、撮像画像上において人間（100）が検出された領域を部分領域（R）として抽出し、撮像画像上で、所定方向における境界位置候補（p1、p7、p10、p21）の位置と部分領域（R）の外端位置である境界位置とが一致する場合に、部分領域（R）に歩行者が存在すると認識する。
PCT/IB2020/000056 2020-01-31 2020-01-31 物体認識方法及び物体認識装置 WO2021152340A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PCT/IB2020/000056 WO2021152340A1 (ja) 2020-01-31 2020-01-31 物体認識方法及び物体認識装置
US17/795,816 US20230106443A1 (en) 2020-01-31 2020-01-31 Object Recognition Method and Object Recognition Device
CN202080095068.6A CN115038990A (zh) 2020-01-31 2020-01-31 物体识别方法及物体识别装置
EP20916508.3A EP4099060B1 (en) 2020-01-31 2020-01-31 Object recognition method and object recognition device
JP2021573619A JPWO2021152340A1 (ja) 2020-01-31 2020-01-31

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2020/000056 WO2021152340A1 (ja) 2020-01-31 2020-01-31 物体認識方法及び物体認識装置

Publications (2)

Publication Number Publication Date
WO2021152340A1 WO2021152340A1 (ja) 2021-08-05
WO2021152340A8 true WO2021152340A8 (ja) 2022-06-23

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PCT/IB2020/000056 WO2021152340A1 (ja) 2020-01-31 2020-01-31 物体認識方法及び物体認識装置

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US (1) US20230106443A1 (ja)
EP (1) EP4099060B1 (ja)
JP (1) JPWO2021152340A1 (ja)
CN (1) CN115038990A (ja)
WO (1) WO2021152340A1 (ja)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115713758B (zh) * 2022-11-10 2024-03-19 国能黄骅港务有限责任公司 一种车厢识别方法、系统、装置及存储介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3230642B2 (ja) * 1995-05-29 2001-11-19 ダイハツ工業株式会社 先行車検出装置
JP2003084064A (ja) * 2001-09-12 2003-03-19 Daihatsu Motor Co Ltd 前方車両の認識装置及び認識方法
JP2003302470A (ja) * 2002-04-05 2003-10-24 Sogo Jidosha Anzen Kogai Gijutsu Kenkyu Kumiai 歩行者検出装置および歩行者検出方法
JP3879848B2 (ja) * 2003-03-14 2007-02-14 松下電工株式会社 自律移動装置
JP4900103B2 (ja) * 2007-07-18 2012-03-21 マツダ株式会社 歩行者検出装置
WO2011070927A1 (ja) * 2009-12-11 2011-06-16 株式会社トプコン 点群データ処理装置、点群データ処理方法、および点群データ処理プログラム
CN107192994A (zh) * 2016-03-15 2017-09-22 山东理工大学 多线激光雷达海量点云数据快速有效提取及车辆、车道线特征识别方法
EP3361235A1 (en) * 2017-02-10 2018-08-15 VoxelGrid GmbH Device and method for analysing objects
JP6782433B2 (ja) * 2017-03-22 2020-11-11 パナソニックＩｐマネジメント株式会社 画像認識装置
EP3615955A4 (en) * 2017-04-28 2020-05-13 SZ DJI Technology Co., Ltd. CALIBRATION OF LASER AND VISION SENSORS

Also Published As

Publication number Publication date
EP4099060A1 (en) 2022-12-07
US20230106443A1 (en) 2023-04-06
WO2021152340A1 (ja) 2021-08-05
CN115038990A (zh) 2022-09-09
EP4099060A4 (en) 2023-03-22
EP4099060B1 (en) 2024-05-22
JPWO2021152340A1 (ja) 2021-08-05

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