To provide a noise removal method for removing noise points, which become noise, from a plurality of measurement points, capable of further correctly removing noise.SOLUTION: In a drive support system, each irradiation area obtained by dividing a detection area where a target is detected horizontally and vertically in a grid form is irradiated with a laser beam and reflected light of the laser beam is received at each irradiation area, so as to acquire a plurality of measurement points indicating target coordinates which can be obtained for each irradiation area (S110); for each of a plurality of target measurement points to be determination target among the plurality of measurement points, as continuity between distance indicated by the target measurement points and distance indicated by each of a plurality of adjacent measurement points, which are a plurality of measurement points in the irradiation area adjacent to the target measurement points, is lower, a possibility that the target measurement points are noise points is evaluated more highly (S130, S140); and the noise points that a possibility of noise points is evaluated more highly than an evaluation threshold are removed from the plurality of measurement points (S150, S160).SELECTED DRAWING: Figure 4
【課題】複数の測距点からノイズとなるノイズ点を除去するノイズ除去方法において、より正確にノイズを除去できるようにする。【解決手段】運転支援システムにおいて、ターゲットを検出する検出領域を予め水平方向および鉛直方向に格子状に区分した照射領域毎にレーザ光を照射し、それぞれの照射領域にてレーザ光の反射光を受光することによって、照射領域毎に得られるターゲットの座標を表す複数の測距点を取得する(S110)。複数の測距点のうちの判定対象とする複数の対象測距点のそれぞれについて、対象測距点が示す距離と、対象測距点に近接する照射領域における複数の測距点である複数の近接測距点のそれぞれが示す距離との連続性が低いほど、対象測距点がノイズ点である可能性を高く評価する(S130,S140)。複数の測距点からノイズ点である可能性が評価閾値よりも高く評価されたノイズ点を除去する(S150、S160)。【選択図】図4
NOISE REMOVAL METHOD AND OBJECT RECOGNITION DEVICE
ノイズ除去方法および物体認識装置
2019-06-27
Patent
Electronic Resource
Japanese
OBJECT RECOGNITION DEVICE, OBJECT RECOGNITION METHOD, AND OBJECT RECOGNITION PROGRAM
European Patent Office | 2017
|OBJECT RECOGNITION DEVICE, OBJECT RECOGNITION METHOD AND OBJECT RECOGNITION PROGRAM
European Patent Office | 2017
|OBJECT RECOGNITION DEVICE, OBJECT RECOGNITION METHOD, AND OBJECT RECOGNITION PROGRAM
European Patent Office | 2017
|OBJECT RECOGNITION DEVICE, OBJECT RECOGNITION METHOD, AND OBJECT RECOGNITION PROGRAM
European Patent Office | 2017
|