Title:
VEHICLE ROLL ANGLE ESTIMATION SYSTEM, VEHICLE, VEHICLE ROLL ANGLE ESTIMATION METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2017/104713
Kind Code:
A1
Abstract:
A vehicle roll angle estimation system (10) is provided with: an image capture device (40) that can capture an image of an area in front or the rear of a vehicle; and a roll angle estimation device (20) that acquires the image captured by the image capture device (40), analyzes the image, and estimates the roll angle of the image capture device (40) which varies depending on inclination of the vehicle. The roll angle estimation device (20) is provided with a histogram generation unit (22) that generates a luminance gradient direction histogram indicating the frequency distribution of luminance gradient directions of a plurality of pixels included in the image, and an estimation unit (23) that calculates the degree of distortion indicating the symmetry of the luminance gradient histogram and estimates the roll angle on the basis of the calculated degree of distortion.
Inventors:
FUKUTA TAKAAKI (JP)
Application Number:
PCT/JP2016/087250
Publication Date:
June 22, 2017
Filing Date:
December 14, 2016
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
G06T7/60
Domestic Patent References:
| WO2009008174A1 | 2009-01-15 |
Foreign References:
| JP2015058915A | 2015-03-30 | |||
| JP2015058915A | 2015-03-30 | |||
| JP4950290B2 | 2012-06-13 | |||
| JP4862080B2 | 2012-01-25 |
Other References:
See also references of EP 3376471A4
Attorney, Agent or Firm:
SAKANE, Tsuyoshi et al. (JP)
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