To recognize an area in which a mobile vehicle can travel without changing a trained model depending on the type of road on which the mobile body travels.SOLUTION: An image recognition device includes: a storage unit that stores a first trained model that has been trained to take an image containing a road surface as input and output, as one area, a region on the image that is estimated to be a road surface having the same attribute, and a second trained model that has been trained to take the image containing the road surface as input and output a boundary of a plurality of areas on the image; and a recognition unit that recognizes a travelable region in which a mobile body can travel based on the area and the boundary obtained by inputting an image including a road surface captured by a camera mounted on the mobile body into the first trained model and the second trained model.SELECTED DRAWING: Figure 1
【課題】移動体が走行する道路の種類に応じて学習済みモデルを変更することなく走行可能領域を認識すること。【解決手段】路面を含む画像を入力として、前記画像上の同一属性の路面と推定される領域を一つのエリアとして出力するように学習された第1学習済みモデルと、前記路面を含む画像を入力として、前記画像上の複数の前記エリアの境界を出力するように学習された第2学習済みモデルと、を記憶した記憶部と、移動体に搭載されたカメラによって撮像された路面を含む画像を、前記第1学習済みモデルと前記第2学習済みモデルとに入力することによって得られた前記エリアと前記境界とに基づいて、前記移動体が走行可能な走行可能領域を認識する認識部と、を備える、画像認識装置。【選択図】図1
IMAGE RECOGNITION DEVICE, IMAGE RECOGNITION METHOD, AND PROGRAM
画像認識装置、画像認識方法、およびプログラム
2024-03-07
Patent
Electronic Resource
Japanese
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