Title:
Three-dimensional object detection device, three-dimensional object detection method, three-dimensional object detection program, and mobile device control system
Document Type and Number:
Japanese Patent JP6340850
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To detect the accurate position or size of a solid object by accurately detecting a movement surface on which a mobile body moves, and preventing the connection of the parallax values of the movement surface with the parallax values of the object in the case of detecting the three-dimensional position or size of the solid object on the movement surface on the basis of a plurality of pickup images obtained by imaging the front side of the mobile body by a plurality of imaging means and a parallax image generated from the pickup images.SOLUTION: A solid object detection device includes: a parallax image generation part 132 for generating a parallax image from pickup images imaged by stereo cameras; a road surface shape detection part 135 for detecting a road surface in the pickup image; a real U map generation part 138 for generating map information indicating the frequency distribution and height distribution of parallax values with a lateral axis as a distance in a lateral direction and a longitudinal axis as a distance in a moving direction on the basis of the detected road surface and the parallax image; an isolated area detection part 139 for detecting an isolated area on the basis of the frequency distribution; and an object area extraction part 141 for extracting a solid object (object) on the road surface on the basis of the isolated area.
More Like This:
Inventors:
Sadao Takahashi
Tomoko Ishigaki
Soichiro Yokota
Tomoko Ishigaki
Soichiro Yokota
Application Number:
JP2014055293A
Publication Date:
June 13, 2018
Filing Date:
March 18, 2014
Export Citation:
Assignee:
株式会社リコー
International Classes:
G06T7/00; G06T7/593; G08G1/16
Domestic Patent References:
| JP11351862A | ||||
| JP10143659A | ||||
| JP11345336A | ||||
| JP2000259997A | ||||
| JP2011128844A | ||||
| JP2008507454A |
Foreign References:
| WO2013148519A1 |
Other References:
綱島 宣浩、中島 真人,“投影視差画像を用いた前方車両の検出”,電子情報通信学会技術研究報告,日本,社団法人電子情報通信学会,1998年10月15日,Vol.98, No.334,pp.15-20
Attorney, Agent or Firm:
Keiji Nemoto