PROBLEM TO BE SOLVED: To improve precision in identifying a specific entity by properly specifying an optical band, which is reflected on a road surface, as a special image.SOLUTION: A vehicle exterior environment recognition device includes an image acquisition unit that acquires a reference image and comparative image, an image processing unit that performs pattern matching to extract a comparative block, which correlates with an arbitrary reference block in the reference image, from a predetermined range in the comparative image, and produces parallax information, a three-dimensional position deduction unit that uses the parallax information to deduce a three-dimensional position of an object region in the reference image, a grouping unit that groups object regions whose three-dimensional positions have differences falling with a predetermined range, and thus produces an object image, and a special image discrimination unit that discriminates an arbitrary object image as a special image when the arbitrary object image, an object image that correlates with a light source, and the light source exist at a position detected by shifting by an estimate mismatch distance in a predetermined horizontal direction with the arbitrary object image and light source as an origin when an object image representing the light source exists perpendicularly above the arbitrary object image in the reference image.

    【課題】道路面に反射した光帯を適切に特殊像として特定することで、特定物の特定精度を向上する。【解決手段】車外環境認識装置は、基準画像と比較画像とを取得する画像取得部と、パターンマッチングにより、比較画像の所定の範囲から、基準画像における任意の基準ブロックと相関のある比較ブロックを抽出し、視差情報を生成する画像処理部と、視差情報を用いて基準画像内における対象部位の3次元位置を導出する3次元位置導出部と、3次元位置の差分が所定範囲内にある対象部位同士をグループ化して対象像とするグループ化部と、基準画像内において、任意の対象像の垂直上方に光源を示す対象像があり、任意の対象像および光源を起点として、水平所定方向に想定ミスマッチ距離分シフトした位置に、任意の対象像および光源と相関のある対象像および光源が存在する場合、任意の対象像を特殊像と判定する特殊像判定部と、を備える。【選択図】図9


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    Title :

    VEHICLE EXTERIOR ENVIRONMENT RECOGNITION DEVICE


    Additional title:

    車外環境認識装置


    Contributors:

    Publication date :

    2016-01-18


    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 / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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