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Title:
THREE-DIMENSIONAL OBJECT DETECTION DEVICE
Document Type and Number:
WIPO Patent Application WO/2013/129360
Kind Code:
A1
Abstract:
Provided is a three-dimensional object detection device comprising: an imaging means (10) that captures an image of the area behind a vehicle; an image conversion means (31) that converts the viewpoint of a captured image to that of a bird's eye view image; three-dimensional object detection means (32, 33) that align the positions of bird's eye view images taken at different times as a bird's eye view image, generate difference waveform information by counting and carrying out frequency distribution of quantities of pixels that indicate a predetermined difference in the aligned bird's eye view image, detect three-dimensional objects existing within a predetermined detection region on the basis of the difference waveform information, and detect the relative position of a three-dimensional object with regards to the vehicle on the basis of the difference waveform information; and control means (33, 34, 35) that, when it has been determined on the basis of temporal change in the relative position of the three-dimensional object that the vehicle has passed a three-dimensional object, set a region to the rear of the travel direction within the detection region as a mask region, and cause the three-dimensional object detection means (32, 33) to carry out detection of three-dimensional objects within the detection region in a detection target region from which the mask region has been excluded.

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Inventors:
FUKATA OSAMU
HAYAKAWA YASUHISA
Application Number:
PCT/JP2013/054862
Publication Date:
September 06, 2013
Filing Date:
February 26, 2013
Export Citation:
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Assignee:
NISSAN MOTOR (JP)
International Classes:
G06T1/00; B60R21/00; G08G1/16
Foreign References:
JP2012003662A2012-01-05
JP2009166691A2009-07-30
JP2006079346A2006-03-23
JP2009248892A2009-10-29
Attorney, Agent or Firm:
TOKOSHIE PATENT FIRM (JP)
It can exceed and is a patent business corporation. (JP)
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Claims:



 
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