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Title:
PILLAR DETECTION DEVICE AND PILLAR DETECTION METHOD
Document Type and Number:
WIPO Patent Application WO/2020/241125
Kind Code:
A1
Abstract:
To provide a pillar detection device and pillar detection method that make it possible to specify a positional relation to a vehicle, a camera ECU (30) (pillar detection device) is made to comprise: a vertical edge detection unit (34) for detecting a vertical edge (12) in one subject image (P1) from among subject images photographed chronologically at different times; a tracking point setting unit (35) for setting, on the vertical edge (12), a plurality of tracking points (12a) aligned in the vertical direction; a corresponding point detection unit (36) for detecting corresponding points (12a') in another subject image (P2) that correspond to, for example, the tracking points (12a); a vertical edge specification unit (37) for specifying, in the subject image (P2), a vertical edge on which the corresponding points (12a) are aligned in the vertical direction; and a pillar position detection unit (40) for detecting the position of a pillar (61) corresponding to the vertical edge (12) on the basis of the coordinate positions of corresponding intersection points (12d), (12d') in the subject images (P1), (P2) and the positions of a vehicle when the subject images (P1), (P2) were photographed.

Inventors:
YAO ZHIPENG (JP)
FUKUDA DAISUKE (JP)
RI YONGDOK (JP)
Application Number:
PCT/JP2020/017275
Publication Date:
December 03, 2020
Filing Date:
April 22, 2020
Export Citation:
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Assignee:
CLARION CO LTD (JP)
International Classes:
G01C3/06; G06T7/00; G06T7/13; G06T7/70
Foreign References:
JP2015222558A2015-12-10
JP2007271386A2007-10-18
JP2007153087A2007-06-21
JP2018032253A2018-03-01
JP2019102581A2019-06-24
Other References:
See also references of EP 3978870A4
Attorney, Agent or Firm:
CREO LAW & INTELLECTUAL PROPERTY (JP)
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