PROBLEM TO BE SOLVED: To suppress the erroneous detection of a three-dimensional object based on edges resulting from bubbles BU.SOLUTION: A three-dimensional object detector comprises: a camera 10 (imaging means) mounted in a vehicle and including a lens 11; a three-dimensional object detection units 33, 37 (three-dimensional object detection means) detecting a three-dimensional object on the basis of a picked-up image acquired by the camera 10 (imaging means); and lens-state determination means 38 determining whether the lens 11 is in a predetermined bubble adhesion state in which bubbles adhere to the lens 11 on the basis of the picked-up image, the three-dimensional object detection units 33, 37 (three-dimensional object detection means) suppressing the detection of the three-dimensional object based on an image contained in a predetermined area defined by the picked-up image if the lens-state determination means 38 determines that the lens 11 is in the predetermined bubble adhesion state.

    【課題】泡BUに起因するエッジに基づく立体物の誤検出を抑制する。【解決手段】車両に搭載され、レンズ11を備えたカメラ10と前記撮像手段により取得された撮像画像に基づいて、立体物を検出する立体物検出部33,37と、撮像画像に基づいて、レンズ11に泡が付着した所定の泡付着状態であるか否かを判断するレンズ状態判断手段38と、立体物検出手段33,37は、レンズ状態判断手段38によりレンズ11が所定の泡付着状態であると判断された場合には、撮像画像において定義された所定の周縁領域に含まれる画像に基づいて立体物が検出されることを抑制する。【選択図】図3


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    Title :

    THREE-DIMENSIONAL OBJECT DETECTOR AND THREE-DIMENSIONAL OBJECT DETECTION METHOD


    Additional title:

    立体物検出装置及び立体物検出方法


    Contributors:

    Publication date :

    2015-12-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS





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