JP6944328B2 - 車両の周辺監視装置と周辺監視方法 - Google Patents
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Description
Ni=NSi/S … (3)。
Claims (3)
- 対象物を異なる位置から撮影した複数の画像を取得して車両の周囲を監視する周辺監視装置(10)であって、
前記画像を構成する画素領域ごとに、前記画像における奥行距離を含む奥行距離情報を取得する距離情報取得部(110)と、
前記奥行距離情報に基づいて複数の前記画素領域を1以上のグループにグループ化するグループ化処理部(120)と、
前記画像に対し前記画素領域ごとに、前記画像上における前記対象物の移動方向および移動量の情報を含むオプティカルフローを取得する移動情報取得部(130)と、
前記グループのうち前記対象物を含むグループに含まれる前記画素領域の面積の総和を算出し、前記面積の総和が小さいほど、前記対象物を含むグループのそれぞれに対応付ける前記オプティカルフローの個数を大きく設定する対応付け数設定部(140)と、
前記対象物を含むグループに含まれる前記画素領域に対し前記対応付け数設定部にて設定した個数の前記オプティカルフローを対応付ける対応付け部(150)と、
前記対応付け部により対応付けられた前記オプティカルフローを用いて前記車両の周囲の対象物の移動状態を検出する対象物検出部(160)と、を備える周辺監視装置。 - 前記対応付け数設定部は、前記対象物を含むグループが複数である場合に、前記対象物を含む複数のグループのそれぞれに含まれる前記画素領域の面積が大きいほど対応付ける前記オプティカルフローの個数を大きく設定する請求項1に記載の周辺監視装置。
- 対象物を異なる位置から撮影した複数の画像を取得して車両の周囲を監視する周辺監視方法であって、
前記画像を構成する画素領域ごとに、前記画像における奥行距離を含む奥行距離情報を取得する距離情報取得ステップ(S102)と、
前記奥行距離情報に基づいて複数の前記画素領域を1以上のグループにグループ化するグループ化処理ステップ(S103)と、
前記画像に対し前記画素領域ごとに、前記画像上における前記対象物の移動方向および移動量の情報を含むオプティカルフローを取得する移動情報取得ステップ(S105)と、
前記グループのうち前記対象物を含むグループに含まれる前記画素領域の面積の総和を算出し、前記面積の総和が小さいほど、前記対象物を含むグループのそれぞれに対応付ける前記オプティカルフローの個数を大きく設定する対応付け数設定ステップ(S106)と、
前記対象物を含むグループに含まれる前記画素領域に対し前記対応付け数設定ステップにて設定した個数の前記オプティカルフローを対応付ける対応付けステップ(S107)と、
前記対応付けステップにより対応付けられた前記オプティカルフローを用いて前記車両の周囲の対象物の移動状態を検出する対象物検出ステップ(S108)と、を備える周辺監視方法。
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JP6970577B2 (ja) * | 2017-09-29 | 2021-11-24 | 株式会社デンソー | 周辺監視装置および周辺監視方法 |
JP6920159B2 (ja) * | 2017-09-29 | 2021-08-18 | 株式会社デンソー | 車両の周辺監視装置と周辺監視方法 |
GB2598082A (en) * | 2020-07-08 | 2022-02-23 | Continental Automotive Gmbh | Road mirror detection system and method |
US11840238B2 (en) * | 2021-02-05 | 2023-12-12 | Nvidia Corporation | Multi-view geometry-based hazard detection for autonomous systems and applications |
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JP3395634B2 (ja) * | 1998-03-12 | 2003-04-14 | 三菱自動車工業株式会社 | オプティカルフロー式後方情報検出装置 |
JP5190712B2 (ja) * | 2009-03-24 | 2013-04-24 | アイシン精機株式会社 | 障害物検出装置 |
GB2482551A (en) * | 2010-08-06 | 2012-02-08 | Qinetiq Ltd | Alignment of synthetic aperture radar images |
JP6466679B2 (ja) * | 2014-10-10 | 2019-02-06 | トヨタ自動車株式会社 | 物体検出装置 |
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