WO2014129266A1 - 道路標識認識装置 - Google Patents
道路標識認識装置 Download PDFInfo
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- WO2014129266A1 WO2014129266A1 PCT/JP2014/051499 JP2014051499W WO2014129266A1 WO 2014129266 A1 WO2014129266 A1 WO 2014129266A1 JP 2014051499 W JP2014051499 W JP 2014051499W WO 2014129266 A1 WO2014129266 A1 WO 2014129266A1
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- road sign
- area
- light source
- luminance
- captured image
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- 238000003384 imaging method Methods 0.000 claims description 47
- 238000000034 method Methods 0.000 description 35
- 239000000284 extract Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
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- 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
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
Definitions
- the present invention relates to a road sign recognition apparatus for recognizing a road sign in a captured image.
- the above road sign recognition device has a problem that the processing range for recognizing road signs is wide and the processing load is heavy. Therefore, in view of such problems, it is an object of the present invention to reduce the processing load when a road sign is recognized in a road sign recognition device that recognizes a road sign in a captured image.
- the first means extracts a high luminance region indicating a region having a luminance higher than a preset reference luminance in the captured image
- the two means extracts a vehicle light source representing a light source derived from the vehicle in the captured image.
- the third means excludes the area that matches the vehicle light source in the high brightness area
- the fourth means recognizes the road sign in the area that excludes the area that matches the vehicle light source in the high brightness area. And a road sign is recognized in the target area.
- the range for performing the process of recognizing the road sign can be narrowed, and therefore the processing load when recognizing the road sign can be reduced.
- the computer may be a road sign recognition program for realizing each means constituting the road sign recognition apparatus. Further, the descriptions in the claims can be arbitrarily combined as much as possible. At this time, a part of the configuration may be excluded within a range in which the object of the invention can be achieved.
- FIG. 1 is a block diagram showing a schematic configuration of a road sign recognition system 1.
- FIG. It is a flowchart which shows the road sign recognition process which CPU11 of the calculating part 10 performs.
- (A) is a schematic diagram which shows an example of the captured image by the imaging parameter for imaging a self-light-emitting type road sign
- (b) is the imaging by the imaging parameter for imaging the road sign which is not a self-light-emitting type.
- It is a schematic diagram which shows an example of an image. It is explanatory drawing which shows an example of the extraction area
- a road sign recognition system 1 to which the present invention is applied is mounted on a vehicle that travels on a road such as a passenger car (hereinafter also referred to as a host vehicle), for example. It has a function of recognizing road signs even in a dark road environment such as in a tunnel.
- the road sign recognition system 1 includes a calculation unit 10, a camera 20, and a display unit 30.
- the camera 20 uses the traveling direction of the host vehicle (usually in front of the host vehicle) as an imaging range, performs imaging at a predetermined cycle (for example, every 50 ms), and sends the captured image to the calculation unit 10.
- the camera 20 has a function of setting an imaging parameter indicating a setting at the time of imaging by the camera 20 according to a command from the calculation unit 10.
- the camera 20 when the camera 20 does not set the imaging parameter by the arithmetic unit 10, the camera 20 sets the imaging parameter by the ambient brightness (the amount of light input to the camera 20, etc.) and performs imaging using the imaging parameter.
- the imaging parameters include, for example, a gain that represents an amplification factor when a signal generated when light is sensed by the imaging device included in the camera 20, a shutter speed that represents a time during which light is applied to the imaging device, and the like. Can be mentioned.
- the calculation unit 10 is configured as a known electronic control device including a CPU 11 and a memory 12 such as a ROM or a RAM.
- the CPU 11 performs various processes such as a road sign recognition process, which will be described later, according to a program (including a road sign recognition program) stored in the memory 12.
- the calculation unit 10 also includes a database (DB) 13.
- the database 13 records road sign images and values when the road sign images are digitized by color, brightness, color balance, and the like as sign data for each road sign.
- the sign data in the database 13 is used for specifying road signs by pattern matching.
- the database 13 also stores a map for setting the imaging parameters of the camera 20. This map is used in a road sign recognition process described later.
- the display unit 30 is configured as a well-known display that displays the image generated by the calculation unit 10.
- the display part 30 is arrange
- the calculation unit 10 performs a road sign recognition process that is a process of recognizing a road sign from the captured image.
- the road sign recognition process is a process that is started, for example, when the vehicle is turned on, and is performed at a predetermined cycle (for example, every 100 ms).
- an image captured by the camera 20 is input (S110).
- a captured image based on the imaging parameters set by the camera 20 is input.
- the light source is extracted (S120).
- a set of pixels having a luminance value equal to or higher than the reference luminance is extracted as a light source (high luminance region) by comparison with a preset reference luminance.
- a vehicle light source representing a light source derived from the vehicle in the captured image is extracted (S130).
- a vehicle light source is extracted from the light sources extracted in the process of S110. Note that when extracting the vehicle light source, it is not necessary to extract the vehicle light source from the light sources extracted in the processing of S110, and the vehicle light source can be extracted in any processing.
- any process can be adopted as the process for extracting the vehicle light source.
- a known process for identifying a vehicle light source based on a pair of light sources, a moving direction of the light sources, coordinates of the light sources, and the like can be used.
- the vehicle light source is excluded from the light sources (S140).
- the extracted light sources that are identified as vehicle light sources are excluded.
- the vehicle light source can generally be detected at a relatively long distance (for example, 500 to 1000 m), the vehicle light source can be accurately recognized at a distance where the road sign is to be recognized (for example, 100 to 200 m is assumed). High nature. For this reason, in this process, the vehicle light source is accurately removed, and the probability that a road sign at a recognizable distance is erroneously removed is low.
- a road sign is recognized (S150).
- the vehicle light source is excluded from the light sources, and a road sign is recognized by performing pattern matching in each remaining region (each target region).
- the image pattern (luminance, color arrangement, etc.) of the target region is collated with each marker data in the database 13, and a certain degree of consistency is obtained. High signs are recognized as road signs.
- a relatively bright road sign can be recognized in the captured image by the captured image based on the imaging parameter set by the camera 20 itself. For example, a captured image as shown in FIG. 3A is obtained, and the self-luminous type road sign 41 can be recognized.
- the imaging parameters are changed so that the road sign 42 that does not emit light can be recognized well (S160).
- the captured image obtained by changing the imaging parameters as described below is as shown in FIG. 3B, for example. That is, it is understood that the self-luminous type road sign 41 cannot be recognized due to halation, but the non-light-emitting road sign 42 can be recognized well.
- sign existing areas 51 and 52 representing areas where there is a high possibility that a road sign is present in the captured image already obtained. This is set based on the brightness of the area. However, the imaging parameters are set according to the luminance of the area excluding the vehicle light source in the sign presence areas 51 and 52. This is done so as not to be affected by the brightness of the vehicle light source.
- the imaging parameter is recorded in the database (the database 13) in which the imaging parameter (gain and shutter time) is uniquely determined. ) To set. In this map, the gain and shutter time are set to increase as the average luminance of the sign presence region (excluding the vehicle light source region) decreases so that a predetermined average luminance and resolution can be obtained in the captured image. Yes.
- the sign presence area when the sign presence area has a function of recognizing a boundary line (white line or the like) that divides the inside and outside of the travel area, the sign presence area may be set outside the boundary line (outside the travel area).
- a captured image captured by the camera 20 using the imaging parameters set by the arithmetic unit 10 is input (S210). Then, the same processing as the processing of S120 to S150 described above is performed on this captured image (S220 to S250).
- the image to be displayed can be a road sign image recorded in the database 13 or another image recorded corresponding to the recognized road sign.
- the calculation unit 10 extracts a high-brightness region indicating a region whose luminance is higher than a preset reference luminance in the captured image, and is derived from the vehicle in the captured image.
- a vehicle light source representing a light source to be extracted is extracted.
- a region that matches the vehicle light source in the high luminance region is excluded), and a region that excludes the region that matches the vehicle light source in the high luminance region is set as a target region for recognizing a road sign, and the target Recognize road signs in the area.
- the processing load when the road sign is recognized can be reduced.
- the vehicle light source can be detected farther than the road sign, if the vehicle light source is detected from a distance farther than the distance at which the road sign can be recognized, an area related to the vehicle light source can be excluded early. it can.
- the calculation unit 10 represents a setting when the camera 20 performs imaging based on the luminance of the sign presence area representing the area where the road sign is highly likely to exist in the captured image. Imaging parameters (such as the shutter speed and gain of the camera 20) are set. And the captured image imaged with the imaging parameter is acquired, and a road sign is recognized from the captured image imaged with the imaging parameter.
- the imaging is performed again with imaging parameters suitable for imaging the target region, and the road sign is recognized using the captured image. Accuracy can be improved.
- an auxiliary device such as a configuration for irradiating infrared rays can be eliminated as much as possible.
- the calculation unit 10 sets imaging parameters based on the luminance of an area excluding an area that matches the vehicle light source in the sign presence area. According to such a road sign recognition system 1, the imaging parameters can be set without being affected by the luminance of the vehicle light source.
- the calculation unit 10 performs a preset notification corresponding to the recognized road sign. According to such a road sign recognition system 1, since the notification corresponding to the recognized road sign is performed, oversight of the road sign can be suppressed.
- the calculation unit 10 causes the display unit 30 to display an image indicating the recognized road sign.
- an image meaning a road sign (the road sign itself or an image showing the meaning of the road sign in characters) is displayed. Even if it exists, a road sign can be alert
- the same processing as the processing of S120 to S140 is performed on the captured image with the imaging parameter set by the arithmetic unit 10 in the processing of S220 to S240, but at least any of the processing of S220 to S240 is performed. Or may be omitted. That is, it can be said that the captured image (captured image acquired by the process of S110) obtained before changing an imaging parameter, the position of a light source, and the position of a vehicle light source are substantially the same, Therefore Information of these positions is used. (In other words, at least one of the coordinates of the light source and the coordinates of the vehicle light source may be acquired), and the road sign may be recognized using information on these positions.
- a road sign is recognized in the above process, only the process of S150 or the process of S250 may be performed. Furthermore, in the above-described embodiment, the recognized road sign is displayed on the display unit 30. However, notification by voice or sound may be performed.
- the road sign recognition system 1 in the above embodiment corresponds to the road sign recognition device referred to in the present invention
- the camera 20 in the embodiment corresponds to the imaging unit referred to in the present invention.
- the processes of S120 and S220 correspond to the first means of extracting the high luminance area referred to in the present invention
- the processes of S130 and S230 extract the vehicle light source referred to in the present invention. This corresponds to the second means.
- the processes of S140 and S240 correspond to third means for excluding the region that matches the vehicle light source as used in the present invention, and the processes of S150 and S250 are the road referred to in the present invention.
- the process of S160 corresponds to the fifth means for setting the imaging parameter referred to in the present invention
- the process of S210 corresponds to the sixth means for acquiring the captured image captured with the imaging parameter referred to in the present invention.
- the processing corresponds to the seventh means for performing notification in the present invention.
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Abstract
Description
なお、上記目的を達成するためには、コンピュータを、道路標識認識装置を構成する各手段として実現するための道路標識認識プログラムとしてもよい。また、各請求項の記載は、可能な限りにおいて任意に組み合わせることができる。この際、発明の目的を達成できる範囲内において一部構成を除外してもよい。
[本実施形態の構成]
本発明が適用された道路標識認識システム1は、例えば乗用車等の道路を走行する車両(以下、自車両ともいう。)に搭載され、昼間のような明るい状態の道路環境だけでなく、夜間やトンネル内のような暗い状態の道路環境においても、道路標識を認識する機能を有する。詳細には、図1に示すように、道路標識認識システム1は、演算部10と、カメラ20と、表示部30とを備えている。
表示部30は、演算部10にて生成された画像を表示させる周知のディスプレイとして構成されている。表示部30は、自車両の運転者が運転中に視認可能な位置に配置されている。
演算部10は、撮像画像中から道路標識を認識する処理である道路標識認識処理を実施する。道路標識認識処理は、例えば車両の電源が投入されると開始され、所定の周期(例えば100ms毎)に実施される処理である。
続いて、演算部10によって設定された撮像パラメータを利用してカメラ20にて撮像された撮像画像を入力する(S210)。そして、この撮像画像に対して、前述のS120~S150の処理と同様の処理を実施する(S220~S250)。
[本実施形態による効果]
以上のように詳述した道路標識認識システム1において演算部10は、撮像画像中において予め設定された基準輝度よりも輝度が高い領域を示す高輝度領域を抽出し、撮像画像中において車両に由来する光源を表す車両光源を抽出する。そして、高輝度領域のうちの車両光源と一致する領域を除外し)、高輝度領域のうちの車両光源と一致する領域を除外した領域を、道路標識を認識するための対象領域とし、該対象領域において道路標識を認識する。
このような道路標識認識システム1によれば、車両光源の輝度の影響を受けることなく撮像パラメータを設定することができる。
このような道路標識認識システム1によれば、認識した道路標識に対応する報知を行うので、道路標識の見落としを抑制することができる。
このような道路標識認識システム1によれば、道路標識を意味する画像(道路標識そのものや道路標識の意味を文字で示した画像等)を表示させるので、肉眼では道路標識を認識しにくい場合であっても良好に道路標識を報知することができる。
本発明は、上記の実施形態によって何ら限定して解釈されない。また、上記の実施形態の構成の一部を、課題を解決できる限りにおいて省略した態様も本発明の実施形態である。また、上記の複数の実施形態を適宜組み合わせて構成される態様も本発明の実施形態である。また、特許請求の範囲に記載した文言のみによって特定される発明の本質を逸脱しない限度において考え得るあらゆる態様も本発明の実施形態である。また、上記の実施形態の説明で用いる符号を特許請求の範囲にも適宜使用しているが、各請求項に係る発明の理解を容易にする目的で使用しており、各請求項に係る発明の技術的範囲を限定する意図ではない。
上記実施形態における道路標識認識システム1は、本発明でいう道路標識認識装置に相当し、実施形態におけるカメラ20は本発明でいう撮像部に相当する。また、演算部10が実施する処理のうちの、S120,S220の処理は本発明でいう高輝度領域を抽出する第一手段に相当し、S130,S230の処理は本発明でいう車両光源を抽出する第二手段に相当する。
Claims (5)
- 車両に搭載され、撮像画像中の道路標識を認識する道路標識認識装置(1)であって、
撮像画像中において予め設定された基準輝度よりも輝度が高い領域を示す高輝度領域を抽出する第一手段(S120、S220)と、
撮像画像中において車両に由来する光源を表す車両光源を抽出する第二手段(S130、S230)と、
前記高輝度領域のうちの前記車両光源と一致する領域を除外する第三手段(S140、S240)と、
前記高輝度領域のうちの前記車両光源と一致する領域を除外した領域を、道路標識を認識するための対象領域とし、該対象領域において道路標識を認識する第四手段(S150、S250)と、
を備えたことを特徴とする道路標識認識装置。 - 請求項1に記載の道路標識認識装置において、
前記撮像画像中において前記道路標識が存在する可能性が高い領域を表す標識存在領域の輝度に基づいて、撮像部(20)が撮像を行う際の設定を表す撮像パラメータを設定する第五手段(S160)と、
前記撮像パラメータで撮像された撮像画像を取得する第六手段(S210)と、
を備え、
前記第四手段は、前記撮像パラメータで撮像された撮像画像から道路標識を認識すること
を特徴とする道路標識認識装置。 - 請求項2に記載の道路標識認識装置において、
前記第五手段は、前記標識存在領域のうちの前記車両光源と一致する領域を除外した領域の輝度に基づいて、前記撮像パラメータを設定すること
を特徴とする道路標識認識装置。 - 請求項1~請求項3の何れか1項に記載の道路標識認識装置において、
認識できた道路標識に対応する予め設定された報知を行う第七手段(S310)、
を備えたことを特徴とする道路標識認識装置。 - 請求項4に記載の道路標識認識装置において、
前記第七手段は、認識できた道路標識を意味する画像を表示部(30)に表示させること
を特徴とする道路標識認識装置。
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DE112014000910.5T DE112014000910T5 (de) | 2013-02-20 | 2014-01-24 | Straßenzeichenerkennungsvorrichtung |
US14/769,067 US20160012307A1 (en) | 2013-02-20 | 2014-01-24 | Road sign recognition device |
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JP2013031266A JP6094252B2 (ja) | 2013-02-20 | 2013-02-20 | 道路標識認識装置 |
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KR101678095B1 (ko) * | 2015-07-10 | 2016-12-06 | 현대자동차주식회사 | 차량, 및 그 제어방법 |
EP3396410A4 (en) * | 2015-12-21 | 2019-08-21 | Koito Manufacturing Co., Ltd. | IMAGE ACQUISITION DEVICE FOR VEHICLES, CONTROL DEVICE, VEHICLE HAVING IMAGE ACQUISITION DEVICE FOR VEHICLES AND CONTROL DEVICE, AND IMAGE ACQUISITION METHOD FOR VEHICLES |
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- 2013-02-20 JP JP2013031266A patent/JP6094252B2/ja not_active Expired - Fee Related
-
2014
- 2014-01-24 WO PCT/JP2014/051499 patent/WO2014129266A1/ja active Application Filing
- 2014-01-24 US US14/769,067 patent/US20160012307A1/en not_active Abandoned
- 2014-01-24 DE DE112014000910.5T patent/DE112014000910T5/de not_active Ceased
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Also Published As
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DE112014000910T5 (de) | 2015-11-05 |
JP2014160408A (ja) | 2014-09-04 |
US20160012307A1 (en) | 2016-01-14 |
JP6094252B2 (ja) | 2017-03-15 |
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