JP7271908B2 - 周辺監視装置 - Google Patents
周辺監視装置 Download PDFInfo
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- JP7271908B2 JP7271908B2 JP2018210710A JP2018210710A JP7271908B2 JP 7271908 B2 JP7271908 B2 JP 7271908B2 JP 2018210710 A JP2018210710 A JP 2018210710A JP 2018210710 A JP2018210710 A JP 2018210710A JP 7271908 B2 JP7271908 B2 JP 7271908B2
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- 238000012806 monitoring device Methods 0.000 title claims description 22
- 238000012545 processing Methods 0.000 claims description 99
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- 238000010801 machine learning Methods 0.000 claims description 7
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- 230000008569 process Effects 0.000 description 25
- 238000001514 detection method Methods 0.000 description 23
- 238000012544 monitoring process Methods 0.000 description 21
- 230000008859 change Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000002093 peripheral effect Effects 0.000 description 6
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- 238000013135 deep learning Methods 0.000 description 4
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
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- 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
- G06V10/30—Noise filtering
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- 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
- G06V10/72—Data preparation, e.g. statistical preprocessing of image or video features
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- 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
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/774—Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting
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- 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
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
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Description
Claims (4)
- 車両に備えられて前記車両の周囲を撮像可能な撮像部で前記車両が移動している際に時系列的に撮像される複数の撮像画像を取得する取得部と、
前記複数の撮像画像のうち最新の最新撮像画像に汚れが存在する場合に、学習用汚れが存在しない第1の学習用画像と、当該第1の学習用画像に前記学習用汚れが存在する、複数の第1の学習用汚れ画像と、の関係を機械学習した結果としての第1の学習済みモデルに、前記取得部によって時系列的に撮像された前記複数の撮像画像を入力して、第1復元画像を前記最新撮像画像において前記汚れにより隠蔽された領域を復元させた復元画像として生成する復元処理部と、
を備える、周辺監視装置。 - 前記復元処理部は、前記第1の学習済みモデルに、前記学習用汚れが存在する、複数の第2の学習用汚れ画像を入力して生成した前記復元画像と、当該復元画像を復元する際に利用した複数の前記第2の学習用汚れ画像のうち最新の最新学習用汚れ画像との関係を、機械学習した結果としての第2の学習済みモデルに、前記第1復元画像と、前記最新撮像画像とを入力して、第2復元画像を前記復元画像として復元する、請求項1に記載の周辺監視装置。
- 前記復元処理部は、前記最新撮像画像に存在する前記汚れの大きさを示す汚れ情報を取得し、前記汚れ情報が示す汚れの大きさが、所定の閾値以上の場合、復元処理を非実行とする、請求項1または請求項2に記載の周辺監視装置。
- 前記復元処理部は、前記取得部が前記撮像画像を取得したときの前記車両の速度情報を取得し、前記速度情報の示す車速に応じて、前記閾値を変更する、請求項3に記載の周辺監視装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018210710A JP7271908B2 (ja) | 2018-11-08 | 2018-11-08 | 周辺監視装置 |
US16/676,584 US11393223B2 (en) | 2018-11-08 | 2019-11-07 | Periphery monitoring device |
Applications Claiming Priority (1)
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---|---|---|---|
JP2018210710A JP7271908B2 (ja) | 2018-11-08 | 2018-11-08 | 周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
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JP2020077251A JP2020077251A (ja) | 2020-05-21 |
JP7271908B2 true JP7271908B2 (ja) | 2023-05-12 |
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JP2018210710A Active JP7271908B2 (ja) | 2018-11-08 | 2018-11-08 | 周辺監視装置 |
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US (1) | US11393223B2 (ja) |
JP (1) | JP7271908B2 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7156225B2 (ja) * | 2019-09-20 | 2022-10-19 | 株式会社デンソーテン | 付着物検出装置および付着物検出方法 |
TWI767300B (zh) * | 2020-08-18 | 2022-06-11 | 廣達電腦股份有限公司 | 運算裝置及視訊影像的雨滴去除方法 |
CN113177892A (zh) * | 2021-04-29 | 2021-07-27 | 北京百度网讯科技有限公司 | 生成图像修复模型的方法、设备、介质及程序产品 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017092622A (ja) | 2015-11-06 | 2017-05-25 | クラリオン株式会社 | 画像処理システム |
WO2018197984A1 (ja) | 2017-04-28 | 2018-11-01 | 株式会社半導体エネルギー研究所 | 表示システムおよび移動体 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4326999B2 (ja) * | 2003-08-12 | 2009-09-09 | 株式会社日立製作所 | 画像処理システム |
JP5887219B2 (ja) * | 2012-07-03 | 2016-03-16 | クラリオン株式会社 | 車線逸脱警報装置 |
JP6117634B2 (ja) * | 2012-07-03 | 2017-04-19 | クラリオン株式会社 | レンズ付着物検知装置、レンズ付着物検知方法、および、車両システム |
US9445057B2 (en) * | 2013-02-20 | 2016-09-13 | Magna Electronics Inc. | Vehicle vision system with dirt detection |
EP2899692B1 (en) * | 2014-01-28 | 2019-09-04 | Honda Research Institute Europe GmbH | Method, system, imaging device, movable device and program product for detecting static elements in video and image sources |
JP6246014B2 (ja) * | 2014-02-18 | 2017-12-13 | クラリオン株式会社 | 外界認識システム、車両、及びカメラの汚れ検出方法 |
JP6576887B2 (ja) * | 2016-08-09 | 2019-09-18 | クラリオン株式会社 | 車載装置 |
US10339812B2 (en) * | 2017-03-02 | 2019-07-02 | Denso International America, Inc. | Surrounding view camera blockage detection |
-
2018
- 2018-11-08 JP JP2018210710A patent/JP7271908B2/ja active Active
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2019
- 2019-11-07 US US16/676,584 patent/US11393223B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2017092622A (ja) | 2015-11-06 | 2017-05-25 | クラリオン株式会社 | 画像処理システム |
WO2018197984A1 (ja) | 2017-04-28 | 2018-11-01 | 株式会社半導体エネルギー研究所 | 表示システムおよび移動体 |
Non-Patent Citations (2)
Title |
---|
Bartosz Zielinski et al.,"Cascade context encoder for improved inpainting",[online],2018年03月11日,arXiv:1803.04033v1,<https://arxiv.org/pdf/1803.04033.pdf> |
David Eigen et al.,"Restoring an Image Taken through a Window Covered with Dirt or Rain",2013 IEEE International Conference on Computer Vision,IEEE,2013年,pp.633-640,<https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6751188> |
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Publication number | Publication date |
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US20200151466A1 (en) | 2020-05-14 |
US11393223B2 (en) | 2022-07-19 |
JP2020077251A (ja) | 2020-05-21 |
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