To stably derive a speed of a three-dimensional object.SOLUTION: An outside environment recognition apparatus 120 includes: a stereoscopic speed derivation unit 160 which derives a stereoscopic speed indicating a speed of a predetermined three-dimensional object extracted based on a distance image derived from luminance images of two imaging apparatuses 110; a monocular speed derivation unit 162 which derives a monocular speed indicating a speed of the three-dimensional object extracted based on a luminance image of one imaging apparatus 110; a predicted speed derivation unit 164 which derives a predicted speed indicating a current speed of the three-dimensional object predicted based on a past speed of the three-dimensional object; a mixture ratio derivation unit 166 which derives a mixture ratio of the stereoscopic speed, the monocular speed, and the predicted speed; and an object speed derivation unit 168 which derives an object speed indicating a speed of the three-dimensional object by mixing the stereoscopic speed, the monocular speed, and the predicted speed on the basis of the mixture ratio.SELECTED DRAWING: Figure 3
【課題】立体物の速度を安定して導出する。【解決手段】車外環境認識装置120は、2個の撮像装置110の輝度画像から導出された距離画像に基づいて抽出された所定の立体物の速度を示すステレオ速度を導出するステレオ速度導出部160と、1個の撮像装置110の輝度画像に基づいて抽出された立体物の速度を示す単眼速度を導出する単眼速度導出部162と、立体物の過去の速度に基づいて予測された立体物の現在の速度を示す予測速度を導出する予測速度導出部164と、ステレオ速度、単眼速度および予測速度の混合比率を導出する混合比率導出部166と、混合比率に基づいて、ステレオ速度、単眼速度および予測速度を混合して、立体物の速度を示す物体速度を導出する物体速度導出部168と、を備える。【選択図】図3
OUTSIDE ENVIRONMENT RECOGNITION APPARATUS
車外環境認識装置
24.09.2021
Patent
Elektronische Ressource
Japanisch
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