Title:
THREE-DIMENSIONAL OBJECT DETECTION APPARATUS, IN-VEHICLE SYSTEM, AND THREE-DIMENSIONAL OBJECT DETECTION METHOD
Document Type and Number:
Japanese Patent JP2021128672
Kind Code:
A
Abstract:
To improve accuracy in detecting a three-dimensional object.SOLUTION: A three-dimensional object detection apparatus generates a mask image 90 for masking a difference image G between a first perspective image F1 and a second perspective image F2 captured in a same imaging position O, excluding a three-dimensional object candidate area, and specifies a near ground line L1 on the basis of a mask difference image Gm obtained by masking the difference image G with the mask image 90. The three-dimensional object detection apparatus determines an end point V of the three-dimensional object on the basis of the mask difference image Gm, specifies an intersection Vm where a farthest non-masking area boundary Nf and a straight line passing through the end point V of the three-dimensional object intersect with each other in the mask image 90, and specifies a width of the object on the basis of a distance between the end point V and the intersection Vm. The three-dimensional object detection apparatus specifies a far ground line on the basis of the width of the object and the near ground line, and identifies a location of the three-dimensional object in the difference image on the basis of the near ground line and the far ground line.SELECTED DRAWING: Figure 2
Inventors:
MIYASHITA AYANO
SHIMIZU NAOKI
SHIMIZU NAOKI
Application Number:
JP2020024176A
Publication Date:
September 02, 2021
Filing Date:
February 17, 2020
Export Citation:
Assignee:
FAURECIA CLARION ELECTRONICS CO LTD
International Classes:
G06T7/00; G06T7/70; G08G1/16; H04N7/18
Attorney, Agent or Firm:
Patent Business Corporation Kushibuchi International Patent Office