To provide an on-road obstruction detection device, an on-road obstruction detection method, and an on-road obstruction detection program which can increase detection accuracy of an on-road obstruction in comparison with a case where the on-road obstruction is detected with a semantic label.SOLUTION: An on-road obstruction detection device 10 comprises: a semantic region division processing unit 24 which provides a semantic label to each of pixels of an image as an object to be evaluated by using a first discriminator; a statistical distribution estimation unit 26 which estimates statistical distribution of the semantic label in a predetermined attention region in the image as the object to be evaluated by using a second discriminator from statistical distribution of the semantic label in a surrounding region surrounding the attention region; and a score calculation unit 28 which estimates a likelihood of an on-road obstruction by using statistical distribution of the semantic label in the attention region and the estimated statistical distribution of the semantic label in the attention region.SELECTED DRAWING: Figure 1

    【課題】意味的ラベルから路上障害物を検知する場合よりも、路上障害物の検知精度を向上可能な路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラムを提供することを目的とする。【解決手段】路上障害物検知装置10は、第1識別器を用いて評価対象の画像の画素毎に意味的ラベルを付与する意味的領域分割処理部24と、第2識別器を用いて評価対象の画像の予め定めた注目領域の周辺となる周辺領域における意味的ラベルの統計的分布から前記注目領域の意味的ラベルの統計的分布を推定する統計的分布推定部26と、注目領域の意味的ラベルの統計的分布と、推定された注目領域の意味的ラベルの統計的分布とを用いて、路上障害物らしさを推定するスコア算出部28と、を含む。【選択図】図1


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    Title :

    ON-ROAD OBSTRUCTION DETECTION DEVICE, ON-ROAD OBSTACLE DETECTION METHOD, AND ON-ROAD OBSTACLE DETECTION PROGRAM


    Additional title:

    路上障害物検知装置、路上障害物検知方法、及び路上障害物検知プログラム


    Contributors:

    Publication date :

    2021-04-22


    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 / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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