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Title:
THREE-DIMENSIONAL-OBJECT DETECTION DEVICE, STEREO CAMERA DEVICE, VEHICLE, AND THREE-DIMENSIONAL-OBJECT DETECTION METHOD
Document Type and Number:
WIPO Patent Application WO/2016/208198
Kind Code:
A1
Abstract:
A three-dimensional-object detection device 12 contains an input unit 15 and a control unit 16. The input unit 12 is capable of receiving the input of a first image and a second image that exhibit parallax in a first direction. The control unit 16 generates a parallax image which expresses, using a pixel value, the difference in the first direction between the position of an imaging subject in the first image and the position thereof in the second image, and divides at least part of the parallax image into a plurality of subregions that extend in a second direction that intersects the first direction. For each of the subregions, the control unit 16 divides the distance in the direction extending toward the imaging subject into a plurality of distance intervals, calculates the distance interval to which each pixel in the subregions belongs on the basis of pixel value, and calculates an assessment value corresponding to the length in the second direction of the three-dimensional object belonging to said distance interval, on the basis of the number of pixels belonging to said distance interval. The control unit also determines whether the three-dimensional object is present in each of the distance intervals on the basis of the assessment value. By using a threshold that differs for each distance interval, the control unit 16 determines that a three-dimensional object is present when the assessment value is greater than the threshold.

Inventors:
KOISHI TOMOFUMI (JP)
Application Number:
PCT/JP2016/003043
Publication Date:
December 29, 2016
Filing Date:
June 23, 2016
Export Citation:
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Assignee:
KYOCERA CORP (JP)
International Classes:
G01V8/10; G01C3/06; G06T1/00; G06T7/00
Foreign References:
JPH05265547A1993-10-15
JP2011185664A2011-09-22
US20140125966A12014-05-08
Other References:
See also references of EP 3316006A4
Attorney, Agent or Firm:
SUGIMURA, KENJI (JP)
Kenji Sugimura (JP)
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