To provide a road surface detection device that is able to improve accuracy in detecting the height of a road surface.SOLUTION: A road surface detection device according to an embodiment comprises: an image acquisition unit that acquires captured-image data output from a stereo camera that captures an image of an imaging area including a road surface on which a vehicle travels; a three-dimensional model generation unit that, based on the captured-image data, generates a three-dimensional model of the imaging area including a surface shape of the road surface at a viewing point of the stereo camera; and a correction unit that estimates a flat surface from the three-dimensional model and corrects the three-dimensional model such that a direction of a normal vector of the flat surface and a height position of the flat surface with respect to the stereo camera are matched with a correct value of the direction of the normal vector of the road surface and a correct value of the height position of the road surface with respect to the stereo camera, respectively.SELECTED DRAWING: Figure 4
【課題】路面の高さの検出精度を向上させることができる路面検出装置を提供すること。【解決手段】実施形態にかかる路面検出装置は、車両が走行する路面を含む撮像領域を撮像するステレオカメラから出力された撮像画像データを取得する画像取得部と、撮像画像データに基づいて、ステレオカメラの視点での路面の表面形状を含む撮像領域の3次元モデルを生成する3次元モデル生成部と、3次元モデルから平面を推定し、平面の法線ベクトルの向き及びステレオカメラに対する平面の高さ位置を、路面の法線ベクトルの向きの正解値およびステレオカメラに対する路面の高さ位置の正解値にそれぞれ整合させるように3次元モデルを補正する補正部と、を備える。【選択図】図4
ROAD SURFACE DETECTION DEVICE AND ROAD SURFACE DETECTION PROGRAM
路面検出装置および路面検出プログラム
11.06.2020
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 |
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