Title:
MOVEMENT AMOUNT CALCULATION DEVICE
Document Type and Number:
WIPO Patent Application WO/2022/091579
Kind Code:
A1
Abstract:
A movement amount calculation device according to this invention addresses the problem of how to appropriately remove a feature point on a moving body and enhance VO accuracy. This movement amount calculation device is characterized by comprising a feature point detection unit 200 for detecting a plurality of feature points in an image, a moving body region detection unit 300 for detecting a moving body region in the image, a noise region estimation unit 400 for estimating an extended moving body region around the moving body region in the image and using the moving body region and extended moving body region to estimate a noise region where it is possible that there will be error in the calculation of a host vehicle movement amount, a feature point removal unit 500 for removing a feature point included in the noise region from the plurality of feature points and outputting the remaining feature points, a feature point tracking unit 600 for chronologically tracking the feature points output from the feature point removal unit, and a host vehicle movement amount calculation unit 700 for calculating a host vehicle movement amount on the basis of tracking results from the feature point tracking unit.
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Inventors:
NINOMIYA TAKERU (JP)
TAKEMURA MASAYUKI (JP)
TAKEMURA MASAYUKI (JP)
Application Number:
PCT/JP2021/032532
Publication Date:
May 05, 2022
Filing Date:
September 03, 2021
Export Citation:
Assignee:
HITACHI ASTEMO LTD (JP)
International Classes:
G01C22/00; G01B11/00
Domestic Patent References:
| WO2020170486A1 | 2020-08-27 |
Foreign References:
| JP2015186085A | 2015-10-22 | |||
| JP2015200976A | 2015-11-12 | |||
| JP2019190847A | 2019-10-31 |
Attorney, Agent or Firm:
HIRAKI & ASSOCIATES (JP)
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