To provide a stereo camera device capable of discriminating between parallax on a road surface and parallax of an obstacle, discriminating between an obstacle (an obstacle on the road surface) such as a stereoscopic object on the remote road surface or subsidence from noise, and detecting it early.SOLUTION: A stereo camera device estimates parallax on the road surface, tracks a feature point on the road surface different from the parallax with a plurality of frames, analyzes whether or not a change in parallax of the feature point is a change in parallax corresponding to a travel distance of a vehicle, and detects a road obstacle.SELECTED DRAWING: Figure 1

    【課題】ステレオカメラ装置において、路面の視差と障害物の視差を区別して、遠方の路上の立体物や陥没などの障害物(路上障害物)をノイズと区別して早期に検知することのできるステレオカメラ装置を提供する。【解決手段】路面の視差を推定し、その視差と差分が有る路面上の特徴点を複数フレームで追跡して、前記特徴点の視差の変化が車両の移動距離に相当する視差の変化であるかを分析して、路上障害物を検知する。【選択図】図1


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    Title :

    STEREO CAMERA DEVICE


    Additional title:

    ステレオカメラ装置


    Contributors:

    Publication date :

    2020-02-20


    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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