Title:
Detection method and detection device for the travelable area of the road surface
Document Type and Number:
Japanese Patent JP6295553
Kind Code:
B2
Abstract:
A method and a device are disclosed for detecting a drivable region of a road, the method comprising the steps of: deriving a disparity map from a gray-scale map including the road and detecting the road from the disparity map; removing a part with a height above the road greater than a predetermined height threshold from the disparity map so as to generate a sub-disparity map; converting the sub-disparity map into a U-disparity map; detecting the drivable region from the U-disparity map; and converting the drivable region detected from the U-disparity map into the drivable region within the gray-scale map.
Inventors:
Yugan Mei
Ruyaojie
Xi Jong Chao
One gun
Ruyaojie
Xi Jong Chao
One gun
Application Number:
JP2013183551A
Publication Date:
March 20, 2018
Filing Date:
September 05, 2013
Export Citation:
Assignee:
株式会社リコー
International Classes:
G06V20/56; G08G1/16; G06T1/00; G06V20/58
Domestic Patent References:
| JP2006053757A | ||||
| JP2001256484A |
Other References:
Nicolas Soquet, Mathias Perrollaz,Raphael Labayrade, Dider Aubert,Free Space Estimation for Autonomous Navigation,5th International Conference on Computer Vision Systems(ICVS2007),ドイツ,Applied Computer Science Group, Bielefeld University,2007年 3月24日,1-10,URL,https://hal.inria.fr/hal-00780658/file/ICVS2007-FreeSpaceEstimation.pdf
Jun Zhao, Mark Whitty, Jayantha Katupitiya,Detection of Non-flat Ground Surfaces Using V-Disparity Images,2009 IEEE/RSJ International Conference on Intelligent Robots and Systems,米国,IEEE,2009年10月15日,4584-4589
松島 宏典 Kousuke Matsushima,三眼立体視による道路環境解析 Road Scene Analysis using Trinocular Stereo Vision,電気学会論文誌C Vol.126 No.12 IEEJ,日本,(社)電気学会 The Institute of Electrical Engine,2006年12月 1日,第126巻,1551-1558
関 晃仁 Akihito SEKI,平面の検出・姿勢推定を利用した一般道路環境下におけるロバストな障害物検出 Robust Obstacle Detection in General Road Environment Based on Road-Region Extraction and Pose Estimation Method,情報処理学会研究報告 Vol.2005 No.89 IPSJ SIG Technical Reports,日本,社団法人情報処理学会 Information Processing Society of Japan,2005年 9月 5日,2005-ITS-22(3),13-18
Jun Zhao, Mark Whitty, Jayantha Katupitiya,Detection of Non-flat Ground Surfaces Using V-Disparity Images,2009 IEEE/RSJ International Conference on Intelligent Robots and Systems,米国,IEEE,2009年10月15日,4584-4589
松島 宏典 Kousuke Matsushima,三眼立体視による道路環境解析 Road Scene Analysis using Trinocular Stereo Vision,電気学会論文誌C Vol.126 No.12 IEEJ,日本,(社)電気学会 The Institute of Electrical Engine,2006年12月 1日,第126巻,1551-1558
関 晃仁 Akihito SEKI,平面の検出・姿勢推定を利用した一般道路環境下におけるロバストな障害物検出 Robust Obstacle Detection in General Road Environment Based on Road-Region Extraction and Pose Estimation Method,情報処理学会研究報告 Vol.2005 No.89 IPSJ SIG Technical Reports,日本,社団法人情報処理学会 Information Processing Society of Japan,2005年 9月 5日,2005-ITS-22(3),13-18
Attorney, Agent or Firm:
Tadashige Ito
Tadahiko Ito
Tadahiko Ito
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