Title:
車両用ロール角推定システム、車両、車両用ロール角推定方法及びプログラム
Document Type and Number:
Japanese Patent JP6498317
Kind Code:
B2
Abstract:
A vehicle-use roll-angle estimation system (10) includes an imaging device (40) and a roll-angle estimation device (20) which estimates a roll angle of the imaging device (40). The roll-angle estimation device (20) includes: a histogram generator (22) for generating a brightness gradient orientation histogram which indicates frequency distribution of brightness gradient orientation of a plurality of pixels contained in the image; and an estimation section (23) for identifying a brightness gradient orientation representing edges (Ev) in a vertical direction which indicate in the gravitational direction and a brightness gradient orientation representing edges (Eh) in a horizontal direction by utilizing the brightness gradient orientation histogram, and then estimating the roll angle by utilizing at least one of the identified brightness gradient orientation representing the vertical-direction edges and brightness gradient orientation representing the horizontal-direction edges.
Inventors:
Fukuda Akira
Application Number:
JP2017556101A
Publication Date:
April 10, 2019
Filing Date:
December 14, 2016
Export Citation:
Assignee:
YAMAHA HATSUDOKI KABUSHIKI KAISHA
International Classes:
B60W40/112
Domestic Patent References:
| JP201558915A | ||||
| JP20167979A | ||||
| JP2010860A |
Foreign References:
| WO2011152053A1 |
Attorney, Agent or Firm:
Suzuki Kazuaki
Torii Hiroshi
Masaya Nakatsuka
Torii Hiroshi
Masaya Nakatsuka