To improve accuracy of estimating gradient.SOLUTION: A gradient estimation device comprises an acquisition unit, an extraction unit and a calculation unit. The acquisition unit acquires a first image and a second image by capturing a flat surface. The extraction unit extracts a first pixel indicating a border of an object in a direction different from a gradient direction of the flat surface from the first image and extracts a second pixel corresponding to the first pixel from the second image. The calculation unit calculates the magnitude of gradient of the flat surface by converting at least one of the first image and the second image such that a coincidence degree between the first pixel and the second pixel becomes larger.SELECTED DRAWING: Figure 2

    【課題】勾配の推定精度をより向上させる。【解決手段】勾配推定装置は、取得部と、抽出部と、算出部と、を備える。取得部は、平面を撮影した第1画像と第2画像とを取得する。抽出部は、第1画像から平面の勾配方向と異なる方向のオブジェクトの境界を示す第1画素を抽出し、第2画像から第1画素に対応する第2画素を抽出する。算出部は、第1画素と第2画素との一致度が大きくなるように第1画像および第2画像の少なくとも一方を変換することにより、平面の勾配の大きさを算出する。【選択図】図2


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    Title :

    GRADIENT ESTIMATION DEVICE, GRADIENT ESTIMATION METHOD, PROGRAM AND CONTROL SYSTEM


    Additional title:

    勾配推定装置、勾配推定方法、プログラムおよび制御システム


    Contributors:

    Publication date :

    2019-06-24


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



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