Title:
障害物検知装置、移動体、障害物検知方法、および障害物検知プログラム
Document Type and Number:
Japanese Patent JP6418961
Kind Code:
B2
Abstract:
An obstacle detection device (10) is provided with a distance measurement sensor (11) which measures a detection distance to an object to be detected, a detection image generation unit (30a) which generates a detection image indicating a presence of the object to be detected in a detection range, based on a result of measurement by the distance measurement sensor (11), a rainfall determination unit (30b) which performs a rainfall determination of whether or not a region in the detection range is in a rainfall state, a rain removal processing unit (30c) which executes a rain removal process for removing the isolated points from the detection image, and an obstacle determination unit (30d) which performs an obstacle determination of whether or not the object to be detected is an obstacle. The obstacle determination unit (30d) performs the obstacle determination, based on the detection image on which the rain removal process is performed by the rain removal processing unit (30c), in a case where a region is determined to be in the rainfall state by the rainfall determination unit (30b).
Inventors:
Masakazu Ohira
Daisuke Tani
Daisuke Tani
Application Number:
JP2015014074A
Publication Date:
November 07, 2018
Filing Date:
January 28, 2015
Export Citation:
Assignee:
Sharp Corporation
International Classes:
G01S17/89; G01S17/931; G05D1/02
Domestic Patent References:
| JP2014202527A | ||||
| JP2011016421A | ||||
| JP2005043201A | ||||
| JP2000046942A | ||||
| JP10010233A | ||||
| JP4291190A |
Foreign References:
| US20090323046 |
Other References:
土屋創太 外1名,“静止動画像からの降雨ノイズ除去”,画像電子学会誌,2010年11月25日,Volume 39, Number 6,Pages 1112-1114,ISSN:0285-9831
Attorney, Agent or Firm:
Patent Business Corporation Ark Patent Office