Title:
車載制御装置及び車載環境認識装置
Document Type and Number:
Japanese Patent JP6846230
Kind Code:
B2
Abstract:
The purpose of the present invention is to provide a vehicle-mounted environment recognition device with which, even if a bias of an image feature is present in a captured image, it is possible to alleviate a decline in three-dimensional measurement precision. A stereo camera 100 captures a pair of a left image (first image) and a right image (second image). On the basis of a disparity between a matching window (region) of the right image and a matching window of the left image which is most similar thereto, an irregularity correction unit 400 (distance computation unit 410) computes a distance which denotes the depth of a pixel of interest in the matching window of the right image. If it is possible to segment the matching window of the right image into a first region in which a share of an edge (image feature) is less than a first threshold value and a second region in which the share of the edge is greater than or equal to the first threshold value, the irregularity correction unit 400 segments the matching window of the right image into the first region and the second region and computes the disparity for each of the first region and the second region or corrects the position of the pixel of interest in the matching window of the right image.
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Inventors:
Takemura Masayuki
Ken Shima
Ken Nagasaki
Ken Shima
Ken Nagasaki
Application Number:
JP2017025301A
Publication Date:
March 24, 2021
Filing Date:
February 14, 2017
Export Citation:
Assignee:
Hitachi Astemo, Ltd.
International Classes:
G06T1/00; B60R11/02; G06V10/24; G08G1/16
Domestic Patent References:
| JP7167649A | ||||
| JP2009237652A |
Foreign References:
| WO2004038660A1 |
Attorney, Agent or Firm:
Kaichi International Patent Office