Title:
IMAGE PROCESSING DEVICE, IMAGE PICKUP DEVICE, MOBILE-BODY APPARATUS CONTROL SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2017/159056
Kind Code:
A1
Abstract:
Provided is an image processing device that is provided with the following: a generation unit that, on the basis of distance images which have distance values corresponding to the road surface distance in a plurality of captured images picked up by a plurality of imaging units, generates vertical direction distribution data indicating the frequency distribution of the distance values of the distance images in the vertical direction; an estimation unit that, on the basis of the vertical direction distribution data, estimates a plurality of road surfaces; and a determination unit that, on the basis of the road surfaces estimated by the estimation unit, determines the road surface.
Inventors:
MOTOHASHI NAOKI (JP)
Application Number:
PCT/JP2017/002550
Publication Date:
September 21, 2017
Filing Date:
January 25, 2017
Export Citation:
Assignee:
RICOH CO LTD (JP)
MOTOHASHI NAOKI (JP)
MOTOHASHI NAOKI (JP)
International Classes:
G06T7/00; G06T1/00; G08G1/16
Foreign References:
| JP2015179302A | 2015-10-08 | |||
| JP2014225220A | 2014-12-04 | |||
| JP2015075800A | 2015-04-20 |
Other References:
CSURKA, G.; BRAY, C.; DANCE, C.; FAN, L: "Visual categorization with bags of keypoints", PROC. ECCV WORKSHOP ON STATISTICAL LEARNING IN COMPUTER VISION, 22 January 2004 (2004-01-22)
ALEX KRIZHEVSKY; ILYA SUTSKEVER; GEOFFREY E HINTON: "Imagenet classification with deep convolutional neural networks", ADVANCES IN NEURAL INFORMATION PROCESSING SYSTEMS, 2012, pages 1097 - 1105, XP055309176
See also references of EP 3432264A4
ALEX KRIZHEVSKY; ILYA SUTSKEVER; GEOFFREY E HINTON: "Imagenet classification with deep convolutional neural networks", ADVANCES IN NEURAL INFORMATION PROCESSING SYSTEMS, 2012, pages 1097 - 1105, XP055309176
See also references of EP 3432264A4
Attorney, Agent or Firm:
ITOH, Tadashige et al. (JP)
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