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1. WO2020071683 - OBJECT RECOGNITION METHOD OF AUTONOMOUS DRIVING DEVICE, AND AUTONOMOUS DRIVING DEVICE

Publication Number WO/2020/071683
Publication Date 09.04.2020
International Application No. PCT/KR2019/012484
International Filing Date 26.09.2019
IPC
G06K 9/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G06K 9/46 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
46Extraction of features or characteristics of the image
B60W 40/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
02related to ambient conditions
G05D 1/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
H04N 5/235 2006.01
HELECTRICITY
04ELECTRIC COMMUNICATION TECHNIQUE
NPICTORIAL COMMUNICATION, e.g. TELEVISION
5Details of television systems
222Studio circuitry; Studio devices; Studio equipment
225Television cameras
235Circuitry for compensating for variation in the brightness of the object
CPC
B60W 40/02
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of ; non-directly measurable; driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, ; e.g. by using mathematical models
02related to ambient conditions
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G06K 9/00
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G06K 9/46
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
46Extraction of features or characteristics of the image
H04N 5/235
HELECTRICITY
04ELECTRIC COMMUNICATION TECHNIQUE
NPICTORIAL COMMUNICATION, e.g. TELEVISION
5Details of television systems
222Studio circuitry; Studio devices; Studio equipment ; ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
225Television cameras ; ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
235Circuitry ; or methods; for compensating for variation in the brightness of the object ; , e.g. based on electric image signals provided by an electronic image sensor
Applicants
  • 삼성전자 주식회사 SAMSUNG ELECTRONICS CO., LTD. [KR]/[KR]
Inventors
  • 박규태 PARK, Gyutae
  • 곽세진 KWAK, Sejin
Agents
  • 리앤목 특허법인 Y.P.LEE, MOCK & PARTNERS
Priority Data
10-2018-011930305.10.2018KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) OBJECT RECOGNITION METHOD OF AUTONOMOUS DRIVING DEVICE, AND AUTONOMOUS DRIVING DEVICE
(FR) PROCÉDÉ DE RECONNAISSANCE D'OBJET D'UN DISPOSITIF DE CONDUITE AUTONOME ET DISPOSITIF DE CONDUITE AUTONOME
(KO) 자율 주행 장치의 객체 인식 방법 및 자율 주행 장치
Abstract
(EN)
Disclosed is an object recognition method comprising the steps of: acquiring a first RGB image by using a camera; predicting at least one first region, in which an object is unrecognizable, in the first RGB image on the basis of brightness information about the first RGB image; determining at least one second region, in which an object exists, from among the first regions, of which there is at least one, on the basis of object information acquired through a dynamic vision sensor; acquiring an enhanced second RGB image by controlling photography setting information of the camera in relation to the at least one second region; and recognizing the object in the second RGB image.
(FR)
L'invention concerne un procédé de reconnaissance d'objet comprenant les étapes consistant : à acquérir une première image RVB à l'aide d'une caméra ; à prédire au moins une première région, dans laquelle un objet est non reconnaissable, dans la première image RVB sur la base d'informations de luminosité concernant la première image RVB ; à déterminer au moins une seconde région, dans laquelle un objet existe, parmi les premières régions, il existe au moins une région, sur la base d'informations d'objet acquises par l'intermédiaire d'un capteur de vision dynamique ; à acquérir une seconde image RVB améliorée par commande des informations de réglage de photographie de la caméra par rapport à ladite seconde région ; et à reconnaître l'objet dans la seconde image RVB.
(KO)
카메라를 이용하여 제 1 RGB 이미지를 획득하는 단계; 제 1 RGB 이미지의 명도 정보에 기초하여, 제 1 RGB 이미지 내에서 객체 인식이 불가능한 적어도 하나의 제 1 영역을 예측하는 단계; 동적 비전 센서를 통해 획득되는 객체 정보에 기초하여, 적어도 하나의 제 1 영역 중에서 객체가 존재하는 적어도 하나의 제 2 영역을 결정하는 단계; 적어도 하나의 제 2 영역과 관련하여 카메라의 촬영 설정 정보를 제어함으로써, 개선된 제 2 RGB 이미지를 획득하는 단계; 제 2 RGB 이미지 내에서 객체를 인식하는 단계를 포함하는 객체 인식 방법을 개시한다.
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