PROBLEM TO BE SOLVED: To precisely detect a three-dimensional object on an image even when the number of ranging points detected by a ranging sensor is small in some area.SOLUTION: A three-dimensional object detection device 10 includes an image data detection unit 14 that is mounted on a vehicle and photographs an image of vehicle surroundings and a ranging data detection unit 12 that is mounted on the vehicle and detects distance of ranging points of vehicle surroundings. A three-dimensional object detection method of the present invention extracts ranging points within a visual field range of the image data detection unit 14 from among ranging points detected by the ranging data detection unit 12 and estimates a boundary line between a three-dimensional object of vehicle surroundings and a road surface from the extracted ranging points to detect the three-dimensional object on the image based on the estimated boundary line.SELECTED DRAWING: Figure 1
【課題】測距センサによって検出された測距点の数が少ない部分があったとしても画像上の立体物を精度良く検出する。【解決手段】本発明の立体物検出方法は、車両に搭載されて車両周囲の画像を撮像する画像データ検出部14と、車両に搭載されて車両周囲の測距点の距離を検出する測距データ検出部12とを備えた立体物検出装置10において、測距データ検出部12で検出された測距点の中から画像データ検出部14の視野範囲にある測距点を抽出し、抽出された測距点から車両周囲の立体物と路面との間の境界線を推定し、推定された境界線に基づいて画像上の立体物を検出する。【選択図】図1
THREE-DIMENSIONAL OBJECT DETECTION METHOD AND THREE-DIMENSIONAL OBJECT DETECTION DEVICE
立体物検出方法及び立体物検出装置
2017-09-28
Patent
Electronic Resource
Japanese
Three-dimensional object detection device, three-dimensional object detection method
European Patent Office | 2015
|THREE-DIMENSIONAL OBJECT DETECTION DEVICE AND THREE-DIMENSIONAL OBJECT DETECTION METHOD
European Patent Office | 2015
|Three-dimensional object detection device and three-dimensional object detection method
European Patent Office | 2015
|Three-dimensional object detection device and three-dimensional object detection method
European Patent Office | 2015
|Three-dimensional object detection device, and three-dimensional object detection method
European Patent Office | 2015
|