To provide a technique that can handle an amount of deviation of a wide-range corresponding position, as securing a velocity of matching processing and accuracy thereof in a vehicle periphery monitoring device and periphery monitoring method.SOLUTION: A periphery monitoring device comprises: an image acquisition unit (100) that acquires a plurality of images photographing an object from a different position; a corresponding point deviation calculation unit (111) that sets a retrieval area for the plurality of images, and calculates a corresponding point deviation value serving as an amount of position deviation every a plurality of corresponding points in the retrieval area; a change unit (112) that changes the retrieval area, provided that a number of pieces of the corresponding point deviation value is less than a threshold; an image deviation calculation unit (113) that calculates an image deviation value serving as an amount of entire position deviation of the plurality of images on the basis of the corresponding point deviation value, provided that the number of pieces of the corresponding point deviation value is less than the threshold; and a deviation correction unit (120) that corrects a deviation of the image on the basis of the amount of image deviation of the image.SELECTED DRAWING: Figure 1

    【課題】車両の周辺監視装置および周辺監視方法において、マッチング処理の速度と精度とを確保しつつ、広範囲の対応位置のずれ量に対応可能な技術を提供する。【解決手段】周辺監視装置は、対象物を異なる位置から撮影した複数の画像を取得する画像取得部(100)と、前記複数の画像について探索領域を設定して、前記探索領域内で複数の対応点ごとの位置ずれ量である対応点ずれ値を算出する対応点ずれ算出部(111)と、前記対応点ずれ値の個数が閾値未満であることを条件として、前記探索領域を変更する変更部(112)と、前記対応点ずれ値の個数が前記閾値以上であることを条件として、前記対応点ずれ値に基づいて前記複数の画像全体の位置ずれ量である画像ずれ値を算出する画像ずれ算出部(113)と、前記画像の画像ずれ値に基づいて前記画像のずれを補正するずれ補正部(120)と、を備える。【選択図】 図1


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    Title :

    VEHICLE PERIPHERY MONITORING DEVICE, AND PERIPHERY MONITORING METHOD


    Additional title:

    車両の周辺監視装置および周辺監視方法


    Contributors:

    Publication date :

    2019-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS





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