Title:
THREE-DIMENSIONAL OBJECT DETECTION DEVICE
Document Type and Number:
WIPO Patent Application WO/2013/129359
Kind Code:
A1
Abstract:
The present invention is provided with: an image conversion means (31) that converts the viewpoint of a captured image taken by an imaging means (10) into an overhead view image; a three-dimensional object detection means (32, 33, 34) that generates difference waveform information by counting and creating a frequency distribution of the number of pixels indicating a predetermined difference in a difference image in which the positions of overhead view images taken at different times are aligned in an overhead view, and detects, on the basis of the difference waveform information, a three-dimensional object in a detection area set rearward of a vehicle; and a brightness detection means (34) that detects the brightness of pixels within the detection area. The three-dimensional object detection means (32, 33, 34) detects an area having a brightness equal to or greater than a predetermined threshold value in the detection area as a high brightness area, sets an area of a predetermined range covering at least the high brightness area as a detection control area in which three-dimensional objects are difficult to detect, expands the detection control area as the distance rearward from the imaging means increases, and generates the difference waveform information for the detection area in which the detection control area is set.
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Inventors:
HAYAKAWA YASUHISA
FUKATA OSAMU
FUKATA OSAMU
Application Number:
PCT/JP2013/054861
Publication Date:
September 06, 2013
Filing Date:
February 26, 2013
Export Citation:
Assignee:
NISSAN MOTOR (JP)
International Classes:
G08G1/16; G06T1/00; G08G1/04; B60R21/00
Foreign References:
| JP2012003662A | 2012-01-05 | |||
| JP2009265783A | 2009-11-12 | |||
| JP2008158958A | 2008-07-10 |
Attorney, Agent or Firm:
TOKOSHIE PATENT FIRM (JP)
It can exceed and is a patent business corporation. (JP)
It can exceed and is a patent business corporation. (JP)
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