Title:
EXTERNAL ENVIRONMENT RECOGNITION DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/110435
Kind Code:
A1
Abstract:
Provided is an external environment recognition device, in which it is possible to: calculate a camera attitude parameter and adjust a geometric image conversion parameter to adjust the relationship of one or more device cameras relative to the current environment; reduce the false positive rate and at the same time maintain the accuracy of object detection, and thereby improve the object detection reliability; and improve the accuracy of calculating the distance to a detected object without adding an external distance sensor. This invention is provided with: an image acquisition unit for acquiring an image from a camera sensor for capturing an image of the external environment; a sensor information acquisition unit for acquiring sensor information collected from a sensor for detecting information relating to the current attitude of the camera sensor; a camera attitude parameter calculation unit for calculating, on the basis of the sensor information acquired by the sensor information acquisition unit, at least one camera attitude parameter defined by the camera pitch angle, the camera roll angle, and the camera yaw angle, for correcting the current attitude of the camera sensor relative to a predefined reference; and an image conversion unit for performing, on the basis of the camera attitude parameter calculated by the camera attitude parameter calculation unit, a geometric image conversion on the image acquired by the image acquisition unit.
Inventors:
GOMEZCABALLERO FELIPE (JP)
KOBAYASHI MASAYUKI (JP)
SHIMA TAKESHI (JP)
TAKEMURA MASAYUKI (JP)
KOBAYASHI MASAYUKI (JP)
SHIMA TAKESHI (JP)
TAKEMURA MASAYUKI (JP)
Application Number:
PCT/JP2019/036914
Publication Date:
June 04, 2020
Filing Date:
September 20, 2019
Export Citation:
Assignee:
HITACHI AUTOMOTIVE SYSTEMS LTD (JP)
International Classes:
G08G1/16; G06T1/00; G06T7/00; G06T7/254; G06T7/70; G06V20/58
Foreign References:
| JPH09179989A | 1997-07-11 | |||
| JP2010205039A | 2010-09-16 | |||
| JPH0778258A | 1995-03-20 | |||
| JP2011030140A | 2011-02-10 | |||
| JP2012071833A | 2012-04-12 | |||
| JP2016134764A | 2016-07-25 |
Other References:
See also references of EP 3889946A4
Attorney, Agent or Firm:
TODA Yuji (JP)
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