OBJECT DISTANCE ESTIMATING DEVICE AND OBJECT DISTANCE ESTIMATING METHOD
OBJECT DISTANCE ESTIMATING DEVICE AND OBJECT DISTANCE ESTIMATING METHOD
- New search for: HARA HIDEYUKI
- New search for: HARA HIDEYUKI
To estimate with good accuracy a distance to an object to be detected.SOLUTION: An object distance estimating device 1 comprises: an area division unit 122 for dividing an imaged image having been imaged by an imaging device 2 into a plurality of areas including a ground surface area that indicates a ground surface and one or more areas different from the ground surface area; an object detection unit 123 for detecting from the imaged image a rectangular area that indicates the object to be detected; a determination unit 124 for determining whether or not the object corresponding to the rectangular area is in contact with the ground surface, on the basis of a relationship between a lower end position of the rectangular area detected by the object detection unit 123 and the position of the ground surface area into which divided by the area division unit 122; an object distance estimation unit 126 for estimating the distance between the object and the imaging device 2 when the determination unit 124 determines as being in contact with the ground surface; and an output unit 127 for outputting object detection information that indicates that the object was detected, said information including information that indicates the distance to the object estimated by the object distance estimation unit 126.SELECTED DRAWING: Figure 2
【課題】検出対象の物体までの距離を精度良く推定する。【解決手段】物体距離推定装置１は、撮像装置２が撮像した撮像画像を、地面を示す地面領域と、地面領域とは異なる一以上の領域とを含む複数の領域に分割する領域分割部１２２と、撮像画像から検出対象の物体を示す矩形領域を検出する物体検出部１２３と、物体検出部１２３が検出した矩形領域の下端位置と、領域分割部１２２により分割された地面領域の位置との関係に基づいて、矩形領域に対応する物体が地面に接しているかを判定する判定部１２４と、物体が地面に接していると判定部１２４が判定すると、当該物体と撮像装置２との距離を推定する物体距離推定部１２６と、物体距離推定部１２６が物体に対して推定した距離を示す情報を含み、物体を検出したことを示す物体検出情報を出力する出力部１２７と、を備える。【選択図】図２
Document information
OBJECT DISTANCE ESTIMATING DEVICE AND OBJECT DISTANCE ESTIMATING METHOD
物体距離推定装置及び物体距離推定方法
2021-03-18
Patent
Electronic Resource
Japanese
| IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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