Title:
車両の環境情報を検出するための方法およびシステム
Document Type and Number:
Japanese Patent JP6689006
Kind Code:
B2
Abstract:
A system for detecting a surrounding object may receive, from a camera, a first image including a plurality of pixels relating to one or more objects and receive, from one or more LiDARs, a first point set including a plurality of points corresponding to the plurality of pixels. The system may also, based on the first point set, determine 3D coordinates and reflection intensities of the plurality of points, based on which the system may generate a segment result by classifying the plurality of points. The system may further transform the 3D coordinates of the plurality of points into 2D coordinates and determine an object type of the one or more objects based on the 2D coordinates, the 3D coordinates, the segment result, and the first image.
Inventors:
Yao Waylon
Menzenan
Ryu Jean
Chang Hao
Tan Shen
Tsai Yehe
Yang Chen
Menzenan
Ryu Jean
Chang Hao
Tan Shen
Tsai Yehe
Yang Chen
Application Number:
JP2018564348A
Publication Date:
April 28, 2020
Filing Date:
August 25, 2017
Export Citation:
Assignee:
Beijing Voyager Technology Company Limited
International Classes:
G01S17/86; G01S17/87; G01S17/931; G06V20/58; G06V20/64
Domestic Patent References:
| JP2004069328A |
Foreign References:
| US20160282468 | ||||
| US8989944 | ||||
| EP1835475A1 |
Other References:
城殿 清澄(Kiyosumi Kidono) ほか,"高解像度レーザレーダと画像の統合による歩行者認識(Pedestrian Recognition Integrating High-definition LIDAR with Vision)",第18回画像センシングシンポジウム 講演論文集[CD-ROM] (The 18th Symposium on Sensing via Image Information),日本,画像センシング技術研究会,2012年 6月,IS2-07,pp. 1-6
Xiaofeng Han et al.,"A real-time LIDAR and Vision based Pedestrian Detection System for Uumanned Ground Vehicles",2015 3rd IAPR Asian Conference on Pattern Recognition,2015年,pp.635-639,ISSN:2327-0985, DOI:10.1109/ACPR.2015.7486580
Cristiano Premebida et al.,"A Lidar and Vison-based Approach for Pedestrian and Vehicle Detection and Tracking",Proceedings of the 2007 IEEE Intelligent Transportation Systems Conference,2007年,WeD1.1,pp.1044-1049,DOI:10.1109/ITSC.2007.4357637
Xiaofeng Han et al.,"A real-time LIDAR and Vision based Pedestrian Detection System for Uumanned Ground Vehicles",2015 3rd IAPR Asian Conference on Pattern Recognition,2015年,pp.635-639,ISSN:2327-0985, DOI:10.1109/ACPR.2015.7486580
Cristiano Premebida et al.,"A Lidar and Vison-based Approach for Pedestrian and Vehicle Detection and Tracking",Proceedings of the 2007 IEEE Intelligent Transportation Systems Conference,2007年,WeD1.1,pp.1044-1049,DOI:10.1109/ITSC.2007.4357637
Attorney, Agent or Firm:
Hayashi Ichiyoshi
Tetsuo Shiba
Takuya Saito
Iwaike Mitsuru
Kazuhiro Kosuga
Tetsuo Shiba
Takuya Saito
Iwaike Mitsuru
Kazuhiro Kosuga