MX355397B - Aparato de deteccion de objetivos y metodo de deteccion de objetivos. - Google Patents

Aparato de deteccion de objetivos y metodo de deteccion de objetivos.

Info

Publication number
MX355397B
MX355397B MX2016014733A MX2016014733A MX355397B MX 355397 B MX355397 B MX 355397B MX 2016014733 A MX2016014733 A MX 2016014733A MX 2016014733 A MX2016014733 A MX 2016014733A MX 355397 B MX355397 B MX 355397B
Authority
MX
Mexico
Prior art keywords
vehicle
object detection
detection region
detection device
periphery
Prior art date
Application number
MX2016014733A
Other languages
English (en)
Other versions
MX2016014733A (es
Inventor
Nishiuchi Hidekazu
Yamanoi Daiki
Andou Toshiyuki
Satoh Hiroshi
MATSUO Haruo
Original Assignee
Nissan Motor
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nissan Motor filed Critical Nissan Motor
Publication of MX2016014733A publication Critical patent/MX2016014733A/es
Publication of MX355397B publication Critical patent/MX355397B/es

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/98—Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
    • 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
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • 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
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)
  • Instructional Devices (AREA)

Abstract

Un aparato (100) de detección de objetivos adquiere (11) una imagen mediante la formación de imágenes de los alrededores de un vehículo, detecta (12) una posición propia del vehículo con base en una cantidad de movimiento del vehículo a partir de una posición inicial del mismo, y estima (13) una posición relativa de un objetivo, localizado alrededor del vehículo, con respecto al vehículo con base en la posición propia y la información sobre una posición del objetivo en un mapa. El aparato de detección de objetivos establece (14) un área de detección para el objetivo dentro de la imagen con base en la posición relativa del objetivo con respecto al vehículo, y detecta (15) el objetivo a partir del área de detección. El aparato de detección de objetivos estima (16) el error contenido en la posición propia con base en la cantidad de movimiento del vehículo a partir de la posición inicial, y ajusta (14) el tamaño del área de detección para el objetivo de acuerdo con el error.
MX2016014733A 2014-05-20 2014-05-20 Aparato de deteccion de objetivos y metodo de deteccion de objetivos. MX355397B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/063351 WO2015177865A1 (ja) 2014-05-20 2014-05-20 物標検出装置及び物標検出方法

Publications (2)

Publication Number Publication Date
MX2016014733A MX2016014733A (es) 2017-03-06
MX355397B true MX355397B (es) 2018-04-18

Family

ID=54553563

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016014733A MX355397B (es) 2014-05-20 2014-05-20 Aparato de deteccion de objetivos y metodo de deteccion de objetivos.

Country Status (8)

Country Link
US (1) US9767372B2 (es)
EP (1) EP3147629B1 (es)
JP (1) JP6222353B2 (es)
CN (1) CN106461403B (es)
BR (1) BR112016026372B1 (es)
MX (1) MX355397B (es)
RU (1) RU2633641C1 (es)
WO (1) WO2015177865A1 (es)

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JP6361366B2 (ja) * 2014-08-18 2018-07-25 株式会社デンソー 物体認識装置
EP3104189B1 (en) * 2015-06-11 2020-09-30 Veoneer Sweden AB Misalignment estimation for a vehicle radar system
JP6756101B2 (ja) * 2015-12-04 2020-09-16 トヨタ自動車株式会社 物体認識装置
JP6380422B2 (ja) * 2016-02-05 2018-08-29 トヨタ自動車株式会社 自動運転システム
JP6575685B2 (ja) * 2016-07-26 2019-09-18 日産自動車株式会社 自己位置推定方法及び自己位置推定装置
DE102017220139A1 (de) * 2017-11-13 2019-05-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bereitstellen einer Position wenigstens eines Objekts
CN111936820A (zh) * 2018-03-30 2020-11-13 丰田自动车欧洲公司 用于调整车辆外部位置信息的***和方法
US10839522B2 (en) * 2018-05-11 2020-11-17 Toyota Research Institute, Inc. Adaptive data collecting and processing system and methods
JPWO2020137313A1 (es) * 2018-12-28 2020-07-02
CN112149659B (zh) * 2019-06-27 2021-11-09 浙江商汤科技开发有限公司 定位方法及装置、电子设备和存储介质
CN114746923B (zh) 2019-11-12 2024-05-14 日产自动车株式会社 信号机识别方法及信号机识别装置
EP3825731B1 (de) * 2019-11-21 2022-01-05 Sick Ag Optoelektronischer sicherheitssensor und verfahren zur sicheren bestimmung der eigenen position
EP3929613A1 (en) * 2020-06-22 2021-12-29 Carnegie Robotics, LLC A method for navigating a movable device along an inclined surface
EP3929690A1 (en) 2020-06-22 2021-12-29 Carnegie Robotics, LLC A method and a system for analyzing a scene, room or venueby determining angles from imaging elements to visible navigation elements
EP3988899B1 (en) * 2020-10-23 2024-05-22 Atlantic Inertial Systems Limited Terrain referenced navigation system
CN115993089B (zh) * 2022-11-10 2023-08-15 山东大学 基于pl-icp的在线四舵轮agv内外参标定方法

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RU2109344C1 (ru) * 1993-08-06 1998-04-20 Николай Николаевич Токарев Способ обнаружения движущихся целей и устройство для его осуществления
JP3449240B2 (ja) * 1998-09-24 2003-09-22 株式会社デンソー 車両用現在位置検出装置、車両用現在位置表示装置、ナビゲーション装置および記録媒体
JP4273119B2 (ja) * 2003-10-21 2009-06-03 和郎 岩根 ナビゲーション装置
JP4763250B2 (ja) * 2004-04-09 2011-08-31 株式会社デンソー 物体検出装置
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JP5162103B2 (ja) * 2006-05-15 2013-03-13 トヨタ自動車株式会社 支援制御装置
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JP6027964B2 (ja) * 2011-11-15 2016-11-16 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 位置推定装置、位置推定方法および集積回路
CN104204726B (zh) * 2012-03-06 2017-05-31 日产自动车株式会社 移动物***置姿态估计装置和移动物***置姿态估计方法

Also Published As

Publication number Publication date
JP6222353B2 (ja) 2017-11-08
BR112016026372B1 (pt) 2022-03-03
US9767372B2 (en) 2017-09-19
BR112016026372A2 (es) 2017-08-15
RU2633641C1 (ru) 2017-10-16
CN106461403B (zh) 2019-02-15
EP3147629A1 (en) 2017-03-29
US20170177958A1 (en) 2017-06-22
WO2015177865A1 (ja) 2015-11-26
MX2016014733A (es) 2017-03-06
EP3147629B1 (en) 2019-07-10
EP3147629A4 (en) 2017-04-05
CN106461403A (zh) 2017-02-22
JPWO2015177865A1 (ja) 2017-04-20

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