PROBLEM TO BE SOLVED: To provide a road surface gradient detection device that can improve detection accuracy of road surface gradient even when white lines are not included in shot images.SOLUTION: A road surface gradient detection device comprises: an image area setting unit that divides a shot image to set a plurality of image areas; a weight setting unit that largely sets weighting of a pixel range as a luminance difference between adjacent pixel ranges is larger, or on the basis of luminance for each pixel range and a coordinate for each pixel range, largely sets the weighting of the pixel range in comparison with a case where the luminance difference between the adjacent pixel ranges is equal to or less than a first threshold when the luminance difference between the adjacent pixel ranges is equal to or more than the first threshold; a representative height calculation unit that calculates representative parallax for each image area and a representative height for each image area on the basis of parallax for each pixel range, the coordinate for each pixel range, and a size of the weighting for each pixel range: and a road surface gradient detection unit that detects a road surface gradient from the shot image on the basis of the representative parallax for each image area and the representative height for each image area.SELECTED DRAWING: Figure 4
【課題】撮像画像内に白線が含まれない場合であっても路面勾配の検出精度を向上させることができる路面勾配検出装置を提供する。【解決手段】撮像画像を分割して複数の画像領域を設定する画像領域設定部と、隣り合う画素範囲との輝度差が大きいほど画素範囲の重み付けを大きく設定する、又は、画素範囲毎の輝度及び画素範囲毎の座標に基づいて、隣り合う画素範囲との輝度差が第1の閾値以上である場合に、隣り合う画素範囲との輝度差が第1の閾値未満である場合と比べて画素範囲の重み付けを大きく設定する重み付け設定部と、画素範囲毎の視差、画素範囲毎の座標、及び画素範囲毎の重み付けの大きさに基づいて、画像領域毎の代表視差及び画像領域毎の代表高さを算出する代表高さ算出部と、画像領域毎の代表視差及び画像領域毎の代表高さに基づいて、撮像画像から路面勾配を検出する路面勾配検出部と、を備える。【選択図】図4
ROAD SURFACE GRADIENT DETECTION DEVICE
路面勾配検出装置
2016-12-08
Patent
Electronic Resource
Japanese
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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