Title:
物体検出装置、物体検出方法、及びプログラム
Document Type and Number:
Japanese Patent JP6450294
Kind Code:
B2
Abstract:
A vehicle detection apparatus detects an object based on an image captured from a vehicle. In the vehicle detection apparatus, a camera is mounted in the vehicle. A search region determining unit determines a region including a road surface in the image to be a search region. A cost minimizing unit divides the search region into two, an upper region and a lower region, by a boundary line, determines corresponding points in a plurality of images captured by the camera at different time points by applying an optical flow model having a fixed magnification factor to the upper region and an optical flow model having a planar constraint condition to the lower region, and determines a boundary line that minimizes cost related to a difference between pixel values of the corresponding points. A vehicle presence determining unit determines presence of a forward vehicle based on the boundary line.
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Inventors:
Kota Ishikawa
Ikuo Sato
Kensuke Yokoi
Ikuo Sato
Kensuke Yokoi
Application Number:
JP2015195133A
Publication Date:
January 09, 2019
Filing Date:
September 30, 2015
Export Citation:
Assignee:
株式会社デンソーアイティーラボラトリ
株式会社デンソー
株式会社デンソー
International Classes:
B60R21/0134; G06T7/215; G08G1/16; G06V10/25
Domestic Patent References:
| JP2003067752A | ||||
| JP2010204805A |
Foreign References:
| US20120140076 |
Attorney, Agent or Firm:
Shinji Kato
Mamoru Suzuki
Mamoru Suzuki