JP2016166853A5 - - Google Patents

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JP2016166853A5
JP2016166853A5 JP2015205612A JP2015205612A JP2016166853A5 JP 2016166853 A5 JP2016166853 A5 JP 2016166853A5 JP 2015205612 A JP2015205612 A JP 2015205612A JP 2015205612 A JP2015205612 A JP 2015205612A JP 2016166853 A5 JP2016166853 A5 JP 2016166853A5
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Prior art keywords
road surface
position estimation
road
estimation apparatus
illumination
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JP2015205612A
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JP6667065B2 (en
JP2016166853A (en
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Claims (19)

道路における移動体の位置を推定する位置推定装置であって、
前記移動体に設けられ、前記道路の路面を照明して照明領域を形成する照明部と、
前記移動体に設けられ、前記照明領域を含む路面を撮像する撮像部と、
前記道路の位置と対応する路面の特徴とを含む路面情報を取得する制御部と、を備え、
前記制御部は、
前記撮像部によって撮像された撮像画像から路面の特徴を抽出し、
前記撮像画像の照明領域の形状の変化に基づいて前記撮像画像の有効性を判定し、
前記撮像画像を有効と判定した場合に抽出された前記特徴と前記路面情報とで照合処理を行い、前記移動物体の前記位置を評価する、
位置推定装置。 A position estimation device for estimating the position of a moving object on a road ,
An illuminating unit that is provided on the moving body and illuminates a road surface of the road to form an illumination area;
An imaging unit that is provided in the moving body and images a road surface including the illumination area ;
And a control unit for acquiring the road information including the characteristics of the road surface corresponding to the position of the road,
The controller is
Extracting road surface features from the captured image captured by the imaging unit ;
Determining the effectiveness of the captured image based on a change in the shape of the illumination area of the captured image ;
There line collation processing between the feature and the road information extracted when it is determined that enable the captured image, to assess the position of the moving object,
Position estimation device. 前記照明部は、平行光を用いて照明する、
請求項１に記載の位置推定装置。 The illumination unit illuminates using parallel light,
The position estimation apparatus according to claim 1. 前記路面情報は、前記位置として絶対位置を示す情報を含む、
請求項１に記載の位置推定装置。 The road surface information includes information indicating an absolute position as the position.
The position estimation apparatus according to claim 1. 前記路面情報はさらに、前記位置での方角を示す情報を含み、
前記制御部は、前記照合処理により前記移動体の位置および向きを推定する、
請求項１に記載の位置推定装置。 The road surface information further includes information indicating a direction at the position,
The control unit estimates the position and orientation of the moving body by the verification process.
The position estimation apparatus according to claim 1. 前記照明部は、予め定められた模様を形成する光であるパターン光を用いて前記路面を照明する
請求項１に記載の位置推定装置。 The position estimation apparatus according to claim 1, wherein the illumination unit illuminates the road surface using pattern light, which is light that forms a predetermined pattern. 前記パターン光は、縞のパターン光または格子のパターン光である
請求項５に記載の位置推定装置。 The position estimation device according to claim 5, wherein the pattern light is a stripe pattern light or a lattice pattern light. 前記路面情報の前記対応する路面の特徴は、路面の濃淡または凹凸の２次元配置を示す情報を含み、
前記制御部は、前記抽出される路面の特徴として、前記路面画像のうちで前記照明部に照明された領域内から路面の濃淡または凹凸の２次元配置を特定し、その特定した２次元配置に基づいて前記照合処理を行う
請求項１に記載の位置推定装置。 The characteristics of the corresponding road surface of the road surface information include information indicating a two-dimensional arrangement of road surface shading or unevenness,
The control unit specifies a two-dimensional arrangement of shading or unevenness on the road surface from within the area illuminated by the illumination unit in the road image as a feature of the extracted road surface, and uses the specified two-dimensional arrangement. The position estimation apparatus according to claim 1, wherein the matching process is performed based on the position matching process. 前記路面情報の前記対応する路面の特徴は、路面の濃淡または凹凸が撮像された路面画像を２値化することにより得られた２値化画像を含み、
前記制御部は、前記抽出される路面の特徴として、前記路面の濃淡または凹凸が撮像された前記路面画像を２値化することにより得られた２値化画像を生成し、その生成した２値化画像と前記路面情報とを照合する処理を前記照合処理として行う
請求項１に記載の位置推定装置。 The feature of the corresponding road surface of the road surface information includes a binarized image obtained by binarizing a road surface image obtained by imaging the shading or unevenness of the road surface,
The control unit generates a binarized image obtained by binarizing the road surface image obtained by imaging the lightness or unevenness of the road surface as a feature of the extracted road surface, and the generated binary The position estimation apparatus according to claim 1, wherein a process of collating the digitized image with the road surface information is performed as the collation process. 前記制御部が推定する前記移動体の前記位置よりも精度の粗い位置推定を行う位置推定部をさらに備え、
前記制御部は、前記位置推定部による前記位置推定の結果に基づき、前記路面情報を絞
り込んで取得する
請求項１に記載の位置推定装置。 A position estimator that performs coarse position estimation with accuracy greater than the position of the moving body estimated by the controller;
The position estimation device according to claim 1, wherein the control unit narrows down and acquires the road surface information based on a result of the position estimation by the position estimation unit. 前記制御部は、前記移動体の移動速度に応じて前記照合処理を行う
請求項１に記載の位置推定装置。 The position estimation apparatus according to claim 1, wherein the control unit performs the collation process according to a moving speed of the moving body. 前記制御部は、前記照明部により前記路面上に形成される照明形状に基づき前記照合領域の有効性を判定する、
請求項１に記載の位置推定装置。 The control unit determines the effectiveness of the verification region based on the illumination shape formed on the road surface by the illumination unit.
The position estimation apparatus according to claim 1. 前記制御部は、前記抽出される路面の特徴に基づき前記照合領域の有効性を判定する、請求項１に記載の位置推定装置。   The position estimation device according to claim 1, wherein the control unit determines the validity of the verification region based on the extracted road surface characteristics. 前記撮影部は、前記照明部の光軸と非平行な光軸を有する、The imaging unit has an optical axis that is non-parallel to the optical axis of the illumination unit.
請求項１に記載の位置推定装置。The position estimation apparatus according to claim 1. 前記撮影部の光軸は、前記路面に対して垂直である、The optical axis of the imaging unit is perpendicular to the road surface,
請求項１４に記載の位置推定装置。The position estimation apparatus according to claim 14. 前記照明領域の形状は、回転対称パターンである、The shape of the illumination area is a rotationally symmetric pattern,
請求項１に記載の位置推定装置。The position estimation apparatus according to claim 1. 前記制御部は、前記照明領域の形状の変化に基づいて前記移動体の傾斜を判定する、The control unit determines the inclination of the moving body based on a change in the shape of the illumination area.
請求項１に記載の位置推定装置。The position estimation apparatus according to claim 1. 前記照明部は、テレセントリック光学系を用いて前記表面に照射する、The illumination unit irradiates the surface using a telecentric optical system,
請求項１に記載の位置推定装置。The position estimation apparatus according to claim 1. 前記移動体の移動速度を計測する速度計を備え、A speedometer for measuring the moving speed of the moving body;
前記制御部は、前記速度計によって測定された移動体の移動速度が所定速度以下のときだけ前記照合処理を行う、The control unit performs the matching process only when the moving speed of the moving body measured by the speedometer is equal to or lower than a predetermined speed.
請求項１０に記載の位置推定装置。The position estimation apparatus according to claim 10. 道路における移動体の位置を推定する位置推定方法であって、
前記移動体に設けられる照明部を用いて前記道路の路面を照明して照明領域を形成し、
前記移動体に設けられる撮像部を用いて、前記照明領域を含む路面を撮像し、
前記道路の位置と対応する路面の特徴とを含む路面情報を取得し、
前記撮像部によって撮像された撮像画像から路面の特徴を抽出し、
前記撮像画像の照明領域の形状の変化に基づいて前記撮像画像の有効性を判定し、
前記撮像画像を有効と判定した場合に抽出された前記特徴と前記路面情報とで照合処理を行い、前記移動物体の前記位置を評価する、
位置推定方法。 A position estimation method for estimating the position of a moving object on a road ,
Illuminating the road surface of the road using an illumination unit provided on the moving body to form an illumination area ,
With is that the imaging unit provided on the movable body, and imaging the road surface including the illumination region,
Acquires road information including the characteristics of the road surface corresponding to the position of the road,
Extracting road surface features from the captured image captured by the imaging unit ;
Determining the effectiveness of the captured image based on a change in the shape of the illumination area of the captured image ;
There line collation processing between the feature and the road information extracted when it is determined that enable the captured image, to assess the position of the moving object,
Position estimation method.
JP2015205612A 2015-03-04 2015-10-19 Position estimation device and position estimation method Active JP6667065B2 (en)

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