JP7215390B2 - 路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム - Google Patents
路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム Download PDFInfo
- Publication number
- JP7215390B2 JP7215390B2 JP2019187022A JP2019187022A JP7215390B2 JP 7215390 B2 JP7215390 B2 JP 7215390B2 JP 2019187022 A JP2019187022 A JP 2019187022A JP 2019187022 A JP2019187022 A JP 2019187022A JP 7215390 B2 JP7215390 B2 JP 7215390B2
- Authority
- JP
- Japan
- Prior art keywords
- road obstacle
- road
- obstacle detection
- statistical distribution
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
- G06F18/2415—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on parametric or probabilistic models, e.g. based on likelihood ratio or false acceptance rate versus a false rejection rate
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
- G06V30/26—Techniques for post-processing, e.g. correcting the recognition result
- G06V30/262—Techniques for post-processing, e.g. correcting the recognition result using context analysis, e.g. lexical, syntactic or semantic context
- G06V30/274—Syntactic or semantic context, e.g. balancing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
- G06V30/24—Character recognition characterised by the processing or recognition method
- G06V30/248—Character recognition characterised by the processing or recognition method involving plural approaches, e.g. verification by template match; Resolving confusion among similar patterns, e.g. "O" versus "Q"
- G06V30/2528—Combination of methods, e.g. classifiers, working on the same input data
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Software Systems (AREA)
- Artificial Intelligence (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Data Mining & Analysis (AREA)
- Computing Systems (AREA)
- Medical Informatics (AREA)
- Computational Linguistics (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Databases & Information Systems (AREA)
- General Health & Medical Sciences (AREA)
- Probability & Statistics with Applications (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- Mathematical Physics (AREA)
- Image Analysis (AREA)
- Traffic Control Systems (AREA)
Description
14 推定部
24 意味的領域分割処理部
26 統計的分布推定部
28 スコア算出部
Rc 注目領域
Rs 周辺領域
Claims (7)
- 予め学習された第1識別器を用いて画像の画素毎に意味的ラベルを付与する付与部と、
予め学習された第2識別器を用いて前記画像の予め定めた注目領域の周辺となる周辺領域における意味的ラベルの統計的分布から前記注目領域の意味的ラベルの統計的分布を推定する分布推定部と、
前記付与部によって付与された前記注目領域の意味的ラベルの統計的分布と、前記分布推定部によって推定された前記注目領域の意味的ラベルの統計的分布とを用いて、路上障害物らしさを推定する障害物推定部と、
を含む路上障害物検知装置。 - 前記障害物推定部は、前記付与部によって付与された前記注目領域の意味的ラベルの統計的分布と、前記分布推定部によって推定された前記注目領域の意味的ラベルの統計的分布との差分の二乗、前記差分の絶対値、内積、又は確率分布の距離に基づいて、前記路上障害物らしさを推定する請求項1に記載の路上障害物検知装置。
- 前記障害物推定部は、前記周辺領域と前記注目領域との関係によって定義した視覚的顕著度を用いて定義した尤度に基づいて、前記路上障害物らしさを推定する請求項1に記載の路上障害物検知装置。
- 前記障害物推定部は、画像を前景と背景の境界を跨がない複数の局所領域に分割し、前記局所領域から前記注目領域及び前記周辺領域を選択して前記路上障害物らしさを推定する請求項1~3の何れか1項に記載の路上障害物検知装置。
- 前記注目領域は、画像から塊領域を抽出して得られた物体らしい領域を包含する矩形領域を設定する請求項1~4の何れか1項に記載の路上障害物検知装置。
- コンピュータが実行する路上障害物検知方法であって、
予め学習された第1識別器を用いて画像の画素毎に意味的ラベルを付与し、かつ、予め学習された第2識別器を用いて前記画像の予め定めた注目領域の周辺となる周辺領域における意味的ラベルの統計的分布から前記注目領域の意味的ラベルの統計的分布を推定し、
付与された前記注目領域の意味的ラベルの統計的分布と、推定された前記注目領域の意味的ラベルの統計的分布とを用いて、路上障害物らしさを推定する路上障害物検知方法。 - コンピュータを、請求項1~5の何れか1項に記載の路上障害物検知装置の各部として機能させるための路上障害物検知プログラム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019187022A JP7215390B2 (ja) | 2019-10-10 | 2019-10-10 | 路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム |
US17/002,995 US11443526B2 (en) | 2019-10-10 | 2020-08-26 | Road obstacle detection device, road obstacle detection method, and recording medium storing a road obstacle detection program |
CN202010878744.9A CN112651274B (zh) | 2019-10-10 | 2020-08-27 | 路上障碍物检测装置、路上障碍物检测方法及记录介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019187022A JP7215390B2 (ja) | 2019-10-10 | 2019-10-10 | 路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021064054A JP2021064054A (ja) | 2021-04-22 |
JP7215390B2 true JP7215390B2 (ja) | 2023-01-31 |
Family
ID=75345962
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019187022A Active JP7215390B2 (ja) | 2019-10-10 | 2019-10-10 | 路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム |
Country Status (3)
Country | Link |
---|---|
US (1) | US11443526B2 (ja) |
JP (1) | JP7215390B2 (ja) |
CN (1) | CN112651274B (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7327077B2 (ja) * | 2019-10-18 | 2023-08-16 | トヨタ自動車株式会社 | 路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム |
US11508092B2 (en) * | 2019-12-16 | 2022-11-22 | X Development Llc | Edge-based crop yield prediction |
JP7310718B2 (ja) * | 2020-05-27 | 2023-07-19 | トヨタ自動車株式会社 | 路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム |
CN115601361B (zh) * | 2022-12-13 | 2023-04-07 | 苏州迈创信息技术有限公司 | 基于机器视觉机床零件在线检测方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019153225A (ja) | 2018-03-06 | 2019-09-12 | トヨタ自動車株式会社 | 物体識別装置 |
US20200272854A1 (en) | 2019-01-23 | 2020-08-27 | Aptiv Technologies Limited | Automatically choosing data samples for annotation |
US20200285910A1 (en) | 2018-09-24 | 2020-09-10 | Veritone, Inc. | Object detection machine learning |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AUPP009697A0 (en) * | 1997-10-29 | 1997-11-20 | Canon Information Systems Research Australia Pty Ltd | Image interpretation method and apparatas |
JP2007328630A (ja) | 2006-06-08 | 2007-12-20 | Fujitsu Ten Ltd | 物体候補領域検出装置、物体候補領域検出方法、歩行者認識装置および車両制御装置 |
CN101329766B (zh) * | 2007-06-18 | 2012-05-30 | 索尼(中国)有限公司 | 运动图像分析装置、方法及*** |
US8509982B2 (en) * | 2010-10-05 | 2013-08-13 | Google Inc. | Zone driving |
US9916508B2 (en) * | 2015-03-12 | 2018-03-13 | Toyota Jidosha Kabushiki Kaisha | Detecting roadway objects in real-time images |
CN107967480B (zh) * | 2016-10-19 | 2020-06-30 | 北京联合大学 | 一种基于标签语义的显著对象提取方法 |
US10402690B2 (en) * | 2016-11-07 | 2019-09-03 | Nec Corporation | System and method for learning random-walk label propagation for weakly-supervised semantic segmentation |
CN106951830B (zh) * | 2017-02-23 | 2020-12-18 | 北京联合大学 | 一种基于先验条件约束的图像场景多对象标记方法 |
JP6565967B2 (ja) | 2017-05-12 | 2019-08-28 | トヨタ自動車株式会社 | 路上障害物検出装置,方法,およびプログラム |
US10007269B1 (en) | 2017-06-23 | 2018-06-26 | Uber Technologies, Inc. | Collision-avoidance system for autonomous-capable vehicle |
CN108038857B (zh) * | 2017-12-25 | 2018-10-12 | 北京航空航天大学 | 一种基于语义信息与边缘约束的前景目标检测方法 |
CN108764027A (zh) * | 2018-04-13 | 2018-11-06 | 上海大学 | 一种基于改进的rbd显著性计算的海面目标检测方法 |
CN109063723B (zh) * | 2018-06-11 | 2020-04-28 | 清华大学 | 基于迭代挖掘物体共同特征的弱监督图像语义分割方法 |
CN109117723B (zh) * | 2018-07-06 | 2020-10-30 | 中国科学院自动化研究所 | 基于颜色模式分析与语义分割的盲道检测方法 |
CN109284663A (zh) * | 2018-07-13 | 2019-01-29 | 上海大学 | 一种基于正态和均匀混合分布模型的海面障碍物检测方法 |
CN110262487B (zh) * | 2019-06-12 | 2022-09-23 | 达闼机器人股份有限公司 | 一种障碍物检测方法、终端及计算机可读存储介质 |
-
2019
- 2019-10-10 JP JP2019187022A patent/JP7215390B2/ja active Active
-
2020
- 2020-08-26 US US17/002,995 patent/US11443526B2/en active Active
- 2020-08-27 CN CN202010878744.9A patent/CN112651274B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019153225A (ja) | 2018-03-06 | 2019-09-12 | トヨタ自動車株式会社 | 物体識別装置 |
US20200285910A1 (en) | 2018-09-24 | 2020-09-10 | Veritone, Inc. | Object detection machine learning |
US20200272854A1 (en) | 2019-01-23 | 2020-08-27 | Aptiv Technologies Limited | Automatically choosing data samples for annotation |
Also Published As
Publication number | Publication date |
---|---|
US20210110174A1 (en) | 2021-04-15 |
US11443526B2 (en) | 2022-09-13 |
CN112651274B (zh) | 2024-03-12 |
JP2021064054A (ja) | 2021-04-22 |
CN112651274A (zh) | 2021-04-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7215390B2 (ja) | 路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム | |
KR102613517B1 (ko) | 이미지의 시맨틱 분리를 위한 시스템 및 방법 | |
US10672131B2 (en) | Control method, non-transitory computer-readable storage medium, and control apparatus | |
WO2019228211A1 (zh) | 基于车道线的智能驾驶控制方法和装置、电子设备 | |
US10037610B1 (en) | Method for tracking and segmenting a target object in an image using Markov Chain, and device using the same | |
US9552536B2 (en) | Image processing device, information storage device, and image processing method | |
US20180082130A1 (en) | Foreground detector for video analytics system | |
US20170124415A1 (en) | Subcategory-aware convolutional neural networks for object detection | |
US8971410B2 (en) | Method, apparatus and computer-readable medium processing frames obtained by multiple exposures | |
WO2017059576A1 (en) | Apparatus and method for pedestrian detection | |
JP2016194925A (ja) | 道路境界物の検出方法及び装置 | |
CN110533046B (zh) | 一种图像实例分割方法、装置、计算机可读存储介质及电子设备 | |
EP2951783B1 (en) | Method and system for detecting moving objects | |
US10878259B2 (en) | Vehicle detecting method, nighttime vehicle detecting method based on dynamic light intensity and system thereof | |
CN106991686B (zh) | 一种基于超像素光流场的水平集轮廓跟踪方法 | |
KR102138680B1 (ko) | 영상 인식 장치 및 방법 | |
JP7327077B2 (ja) | 路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム | |
CN109492636B (zh) | 基于自适应感受野深度学习的目标检测方法 | |
CN114998595B (zh) | 弱监督语义分割方法、语义分割方法及可读存储介质 | |
US11367206B2 (en) | Edge-guided ranking loss for monocular depth prediction | |
CN110827327A (zh) | 一种基于融合的长期目标跟踪方法 | |
CN117392638A (zh) | 一种服务于机器人场景的开放物体类别感知方法及装置 | |
CN116957051A (zh) | 一种优化特征提取的遥感图像弱监督目标检测方法 | |
US10853657B2 (en) | Object region identifying apparatus, object region identifying method, and computer program product | |
Ding et al. | Object as distribution |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20211117 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20221130 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20221220 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20230102 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7215390 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |