車外監視装置
車外監視装置
PROBLEM TO BE SOLVED: To accurately recognize a three-dimensional object existing on a road surface of an uphill in a vehicle-outside supervising device.SOLUTION: A stereo image processing unit 5 is configured to conduct stereo matching, using a pair of shot images obtained by a pair of cameras 2 and 3, and create a distance image serving as a distribution of a distance on the shot image. A three-dimensional detection unit 8 is configured to group the distance on the distance image to thereby detect three-dimensional objects existing on a road surface. A three-dimensional object correction unit 9 is configured to, when a pair of vertical line segments detected based on a luminance edge in a vertical direction in the shot image exists symmetrically in a retrieval range including an area of the three-dimensional object detected by the three-dimensional detection unit 8, correct a lower end of the three-dimensional object on the basis of a lower end of the vertical line segment.SELECTED DRAWING: Figure 1
Document information
車外監視装置
2020-07-08
Patent
Electronic Resource
Japanese