Title:
INFORMATION PROCESSING DEVICE, IMAGING DEVICE, APPARATUS CONTROL SYSTEM, INFORMATION PROCESSING METHOD, AND COMPUTER PROGRAM PRODUCT
Document Type and Number:
WIPO Patent Application WO/2018/100839
Kind Code:
A1
Abstract:
An information processing device includes a disparity information input unit 151 configured to acquire disparity image data indicating a disparity image including a disparity; a V map generating unit 152 configured to generate a V map indicating a frequency of the disparity for each of coordinates of the disparity image by voting the disparity at a position corresponding to the coordinate of each of pixels of the disparity image based on the disparity image data; a shape estimating unit 156 configured to estimate a road surface shape based on the V map; a height table generating unit 157 configured to generate a height table indicating a relationship between the disparity and a height of a road surface based on the estimated road surface shape; and a correcting unit 161 configured to correct, based on rolling information on rolling of a stereo camera that acquires the disparity, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling.
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Inventors:
MOTOHASHI NAOKI (JP)
TAKAHASHI SADAO (JP)
TAKAHASHI SADAO (JP)
Application Number:
PCT/JP2017/033052
Publication Date:
June 07, 2018
Filing Date:
September 13, 2017
Export Citation:
Assignee:
RICOH CO LTD (JP)
MOTOHASHI NAOKI (JP)
TAKAHASHI SADAO (JP)
MOTOHASHI NAOKI (JP)
TAKAHASHI SADAO (JP)
International Classes:
G06T5/00; G06K9/00
Foreign References:
| JP2001091217A | 2001-04-06 |
Other References:
BURLACU ADRIAN ET AL: "Obstacle detection in stereo sequences using multiple representations of the disparity map", 2016 20TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC), IEEE, 13 October 2016 (2016-10-13), pages 854 - 859, XP033024313, DOI: 10.1109/ICSTCC.2016.7790775
D.F. LLORCA ET AL: "Stereo regions-of-interest selection for pedestrian protection: A survey", TRANSPORTATION RESEARCH PART C: EMERGING TECHNOLOGIES, vol. 25, 1 December 2012 (2012-12-01), pages 226 - 237, XP055142562, ISSN: 0968-090X, DOI: 10.1016/j.trc.2012.06.006
ZHENCHENG HU ET AL: "U-V-disparity: an efficient algorithm for stereovision based scene analysis", INTELLIGENT VEHICLES SYMPOSIUM, 2005. PROCEEDINGS. IEEE LAS VEGAS, NV, USA JUNE 6-8, 2005, PISCATAWAY, NJ, USA,IEEE, PISCATAWAY, NJ, USA, 6 June 2005 (2005-06-06), pages 48 - 54, XP010833942, ISBN: 978-0-7803-8961-8, DOI: 10.1109/IVS.2005.1505076
NAOKI SUGANUMA: "Clustering and tracking of obstacles using stereo vision system", ICCAS-SICE, 2009, IEEE, PISCATAWAY, NJ, USA, 18 August 2009 (2009-08-18), pages 4623 - 4628, XP031565771, ISBN: 978-4-907764-34-0
MATTHIAS WANDFLUH: "Obstacle detection using V-disparity: Integration to the CRAB rover", 1 January 2009 (2009-01-01), XP055209371, Retrieved from the Internet [retrieved on 20150825]
D.F. LLORCA ET AL: "Stereo regions-of-interest selection for pedestrian protection: A survey", TRANSPORTATION RESEARCH PART C: EMERGING TECHNOLOGIES, vol. 25, 1 December 2012 (2012-12-01), pages 226 - 237, XP055142562, ISSN: 0968-090X, DOI: 10.1016/j.trc.2012.06.006
ZHENCHENG HU ET AL: "U-V-disparity: an efficient algorithm for stereovision based scene analysis", INTELLIGENT VEHICLES SYMPOSIUM, 2005. PROCEEDINGS. IEEE LAS VEGAS, NV, USA JUNE 6-8, 2005, PISCATAWAY, NJ, USA,IEEE, PISCATAWAY, NJ, USA, 6 June 2005 (2005-06-06), pages 48 - 54, XP010833942, ISBN: 978-0-7803-8961-8, DOI: 10.1109/IVS.2005.1505076
NAOKI SUGANUMA: "Clustering and tracking of obstacles using stereo vision system", ICCAS-SICE, 2009, IEEE, PISCATAWAY, NJ, USA, 18 August 2009 (2009-08-18), pages 4623 - 4628, XP031565771, ISBN: 978-4-907764-34-0
MATTHIAS WANDFLUH: "Obstacle detection using V-disparity: Integration to the CRAB rover", 1 January 2009 (2009-01-01), XP055209371, Retrieved from the Internet
Attorney, Agent or Firm:
SAKAI, Hiroaki (JP)
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