Title:
OBJECT RECOGNITION METHOD AND OBJECT RECOGNITION DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/152340
Kind Code:
A8
Abstract:
In this object recognition method: a point cloud is acquired through the detection, along a prescribed direction, of a plurality of positions on the surfaces of objects (100, 101) around a vehicle (1); a captured image of the area around the vehicle is generated; points included in the acquired point cloud are grouped and divided into object candidate point clouds (p1-p21); positions (p1, p7, p10, p21) at which a change in the distance from the vehicle between adjacent ones of object candidate points, which are the points included in the object candidate point clouds, increases from less than or equal to a prescribed threshold to greater than the prescribed threshold are extracted as boundary position candidates that are the positions of the outer edges of the objects (100, 101); a region of the captured image where a human (100) has been detected is extracted as a partial region (R) through image recognition processing; and a pedestrian is recognized as being present in the partial region (R) if there is a match between boundary positions, which are the positions of the outer edges of the partial region (R), and positions of the boundary position candidates (p1, p7, p10, p21) in the prescribed direction on the captured image.
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Inventors:
KUROTOBI TOMOKO (JP)
NODA KUNIAKI (JP)
IKEGAMI TAKASHI (JP)
MATSUO HARUO (JP)
NODA KUNIAKI (JP)
IKEGAMI TAKASHI (JP)
MATSUO HARUO (JP)
Application Number:
PCT/IB2020/000056
Publication Date:
June 23, 2022
Filing Date:
January 31, 2020
Export Citation:
Assignee:
NISSAN MOTOR (JP)
RENAULT SAS (FR)
RENAULT SAS (FR)
International Classes:
G01S17/931; G01S17/86; G08G1/16
Attorney, Agent or Firm:
TANAKA HIDETETSU et al. (JP)
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