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1. (WO2019065970) VEHICLE EXTERIOR RECOGNITION DEVICE
Latest bibliographic data on file with the International Bureau    Submit observation

Pub. No.: WO/2019/065970 International Application No.: PCT/JP2018/036265
Publication Date: 04.04.2019 International Filing Date: 28.09.2018
IPC:
G06T 7/00 (2017.01) ,B60R 99/00 (2009.01) ,G01B 11/00 (2006.01) ,G08G 1/16 (2006.01)
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
T
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7
Image analysis, e.g. from bit-mapped to non bit-mapped
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
R
VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
99
Subject matter not provided for in other groups of this subclass
G PHYSICS
01
MEASURING; TESTING
B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11
Measuring arrangements characterised by the use of optical means
G PHYSICS
08
SIGNALLING
G
TRAFFIC CONTROL SYSTEMS
1
Traffic control systems for road vehicles
16
Anti-collision systems
Applicants:
クラリオン株式会社 CLARION CO., LTD. [JP/JP]; 埼玉県さいたま市中央区新都心7番地2 7-2, Shintoshin, Chuo-ku, Saitama-shi, Saitama 3300081, JP
Inventors:
緒方 健人 OGATA Takehito; JP
桑原 利尚 KUWAHARA Toshihisa; JP
清原 將裕 KIYOHARA Masahiro; JP
内田 吉孝 UCHIDA Yoshitaka; JP
Agent:
特許業務法人平木国際特許事務所 HIRAKI & ASSOCIATES; 東京都港区愛宕二丁目5-1 愛宕グリーンヒルズMORIタワー32階 Atago Green Hills MORI Tower 32F, 5-1, Atago 2-chome, Minato-ku, Tokyo 1056232, JP
Priority Data:
2017-19223029.09.2017JP
Title (EN) VEHICLE EXTERIOR RECOGNITION DEVICE
(FR) DISPOSITIF DE RECONNAISSANCE EXTÉRIEUR DE VÉHICULE
(JA) 車両用外界認識装置
Abstract:
(EN) The present invention addresses the problem of acquiring a vehicle exterior recognition device that is able to improve the accuracy of a distance measurement method based on feature point tracking of a camera image. An on-vehicle exterior recognition device according to the present invention extracts a feature point from an image including the environment around a vehicle, measures a three-dimensional position of the feature point on the basis of movement in the image obtained by time-series tracking for the feature point, and calculates a footing position on the image from the three-dimensional position of the feature point. Then, the on-vehicle exterior recognition device extracts, from within the image, a road surface area in which the vehicle can travel by use of similarity in texture of the image, and determines that the feature point, for which the footing position of the feature point is determined not to be included in the road surface area, is highly reliable.
(FR) La présente invention aborde le problème de l'acquisition d'un dispositif de reconnaissance extérieur de véhicule qui est capable d'améliorer la précision d'un procédé de mesure de distance sur la base d'un suivi de point caractéristique d'une image d'appareil de prise de vues. Un dispositif de reconnaissance extérieur embarqué selon la présente invention extrait un point caractéristique d'une image comprenant l'environnement autour d'un véhicule, mesure une position tridimensionnelle du point caractéristique sur la base d'un mouvement dans l'image obtenue par le suivi d'une série chronologique pour le point caractéristique, et calcule une position d'assise sur l'image à partir de la position tridimensionnelle du point caractéristique. Ensuite, le dispositif de reconnaissance extérieur embarqué extrait, à partir de l'intérieur de l'image, une zone de la surface de la route dans laquelle peut se déplacer le véhicule en utilisant une similarité de texture de l'image, et détermine que le point caractéristique, pour lequel la position d'assise du point caractéristique est déterminée comme ne devant pas être incluse dans la zone de surface de route, est hautement fiable.
(JA) 本発明の課題は、カメラ画像の特徴点追跡に基づく距離計測方法の精度を向上させることができる車両用外界認識装置を得ることである。本発明の車載用外界認識装置は、自車周囲の環境を含む画像から特徴点を抽出し、特徴点を時系列追跡した画像上の動きに基づいて特徴点の3次元位置を計測し、特徴点の3次元位置から画像上の足元位置を算出する。そして、画像のテクスチャの類似度を用いて自車が走行可能な路面領域を画像内から抽出し、特徴点の足元位置が路面領域に含まれないと判定された特徴点を信頼度が高いと判定する。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)