OBJECT DETECTION APPARATUS AND VEHICLE CONTROL SYSTEM USING THE SAME
OBJECT DETECTION APPARATUS AND VEHICLE CONTROL SYSTEM USING THE SAME
- Neue Suche nach: OSATO TAKUMA
- Neue Suche nach: SHIMA TAKESHI
- Neue Suche nach: KAKEGAWA SHINJI
- Neue Suche nach: MATONO HARUKI
- Neue Suche nach: TAKEMURA MASAYUKI
- Neue Suche nach: OTSUKA YASUSHI
- Neue Suche nach: OSATO TAKUMA
- Neue Suche nach: SHIMA TAKESHI
- Neue Suche nach: KAKEGAWA SHINJI
- Neue Suche nach: MATONO HARUKI
- Neue Suche nach: TAKEMURA MASAYUKI
- Neue Suche nach: OTSUKA YASUSHI
PROBLEM TO BE SOLVED: To provide an object detection apparatus configured to precisely and stably detect a moving body partially hidden by a three-dimensional object, and a vehicle control system using the same.SOLUTION: An object detection apparatus includes: a first parallax information acquisition section 201 which acquires first parallax information from a plurality of images acquired in a plurality of imaging sections for imaging surroundings; a three-dimensional object detection section 202 which detects a three-dimensional object, on the basis of the first parallax information; a sub-area image generation section 203 which generates a first area image including the three-dimensional object and a second area image adjacent to the first area image, in each of the images; a second parallax information acquisition section 204 which acquires second parallax information from the second area image in each of the images; and a moving-body detection section 205 which detects a moving body in the second area image, which is different from the three-dimensional object, from the second parallax information at different times.SELECTED DRAWING: Figure 2
【課題】立体物の陰に一部が隠れた移動体を精緻に且つ安定して検知することのできる物体検知装置及びそれを用いた車両制御システムを提供する。【解決手段】周囲を撮像する複数の撮像部で取得した複数の画像から第一視差情報を取得する第一視差情報取得部２０１と、第一視差情報に基づいて立体物を検知する立体物検知部２０２と、複数の画像の各画像について、立体物を含む第一領域画像と該第一領域画像に隣接する第二領域画像とを生成する分割領域画像生成部２０３と、各画像についての第二領域画像から第二視差情報を取得する第二視差情報取得部２０４と、異なる時間における第二視差情報から立体物とは異なる第二領域画像内の移動体を検知する移動体検知部２０５と、を備える。【選択図】図２
Dokumentinformationen
OBJECT DETECTION APPARATUS AND VEHICLE CONTROL SYSTEM USING THE SAME
物体検知装置及びそれを用いた車両制御システム
2016-02-08
Patent
Elektronische Ressource
Japanisch
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