To prevent an object from being undetected in a situation where it is difficult to detect the object.SOLUTION: An objection detection apparatus 30 includes a position area detection unit 31 that detects a position area of an object in an image using a first neural network, a large attribute identification unit 32 that identifies a large attribute of the object using a second neural network, a small attribute identification unit 33 that identifies a small attribute of the object that is a lower concept of the large attribute by using a third neural network, and an object determination unit 34 that determines a detection result of the object. The object determination unit determines that the identification result of the small attribute is the detection result of the object when a reliability of the identification result of the small attribute by the small attribute identification unit is equal to or greater than a threshold, and determines the detection result of the object based on the identification result of the large attribute by the large attribute identification unit when a reliability of the identification result of the small attribute is less than a threshold.SELECTED DRAWING: Figure 7
【課題】物体の検出が困難な状況において物体が未検出となることを抑制する。【解決手段】物体検出装置30は、第1ニューラルネットワークを用いて画像内の物体の位置領域を検出する位置領域検出部31と、第2ニューラルネットワークを用いて物体の大属性を識別する大属性識別部32と、第3ニューラルネットワークを用いて、大属性の下位概念である物体の小属性を識別する小属性識別部33と、物体の検出結果を判定する物体判定部34とを備える。物体判定部は、小属性識別部による小属性の識別結果の信頼度が閾値以上である場合には、小属性の識別結果が物体の検出結果であると判定し、小属性の識別結果の信頼度が閾値未満である場合には、大属性識別部による大属性の識別結果に基づいて物体の検出結果を判定する。【選択図】図7
OBJECT DETECTION APPARATUS, VEHICLE CONTROL SYSTEM, OBJECT DETECTION METHOD AND COMPUTER PROGRAM FOR OBJECT DETECTION
物体検出装置、車両制御システム、物体検出方法及び物体検出用コンピュータプログラム
26.03.2020
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Europäisches Patentamt | 2020
|OBJECT DETECTION APPARATUS, OBJECT DETECTION SYSTEM, OBJECT DETECTION METHOD, AND PROGRAM
Europäisches Patentamt | 2017
|OBJECT DETECTION APPARATUS, OBJECT DETECTION SYSTEM, OBJECT DETECTION METHOD, AND PROGRAM
Europäisches Patentamt | 2016
|OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, AND OBJECT DETECTION PROGRAM
Europäisches Patentamt | 2016
|OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD AND COMPUTER PROGRAM FOR OBJECT DETECTION
Europäisches Patentamt | 2024
|