PROBLEM TO BE SOLVED: To specify a feature point based on a feature of a display format of a road traffic sign, for enhancing efficiency of specification of the feature point.SOLUTION: An outside-vehicle environment recognition device comprises: an image acquisition part for acquiring a color image 126; a positional information derivation part for deriving three-dimensional positional information of plural pixels in the color image for creating a distance image; a feature point specification part for using the color image and distance image, and when difference of at least one color component of proximate pixels is in a predetermined value and the pixels are not continuous by predetermined distance or more, to one predetermined direction, specifying the pixels as feature points; a traffic sign specification part for specifying a circular road traffic sign based on the feature points; and a traffic sign content recognition part for recognizing a content of the specified road traffic sign.
【課題】道路標識の表示形式の特徴に基づいて特徴点を特定することで、特徴点の特定効率の向上を図る。【解決手段】車外環境認識装置は、カラー画像126を取得する画像取得部と、カラー画像中の複数の画素の三次元の位置情報を導出し距離画像を生成する位置情報導出部と、カラー画像および距離画像を用い、近接する画素同士の少なくとも1の色成分の差分が所定値以内であり、かつ、画素同士が所定の一方向に対して所定距離以上連続していなければ、特徴点として特定する特徴点特定部と、特徴点に基づいて円形状の道路標識を特定する標識特定部と、特定された道路標識の内容を認識する標識内容認識部と、を備える。【選択図】図9
OUTSIDE-VEHICLE ENVIRONMENT RECOGNITION DEVICE
車外環境認識装置
2015-11-02
Patent
Electronic Resource
Japanese
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