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1. WO2015025897 - 対象物推定装置および対象物推定方法

公開番号 WO/2015/025897
公開日 26.02.2015
国際出願番号 PCT/JP2014/071800
国際出願日 20.08.2014
IPC
G06T 7/20 2006.01
G物理学
06計算;計数
Tイメージデータ処理または発生一般
7イメージ分析
20動きの分析
G08G 1/16 2006.01
G物理学
08信号
G交通制御システム
1道路上の車両に対する交通制御システム
16衝突防止システム
CPC
B60W 30/06
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
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
06Automatic manoeuvring for parking
B60W 30/08
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
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
08Active safety systems; predicting or avoiding probable or impending collision ; or attempting to minimise its consequences
G06K 9/00201
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
00201Recognising three-dimensional objects, e.g. using range or tactile information
G06K 9/00335
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
00335Recognising movements or behaviour, e.g. recognition of gestures, dynamic facial expressions; Lip-reading
G06K 9/00805
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
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
00805Detecting potential obstacles
G06K 9/6215
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
62Methods or arrangements for recognition using electronic means
6201Matching; Proximity measures
6215Proximity measures, i.e. similarity or distance measures
出願人
  • 株式会社デンソー DENSO CORPORATION [JP/JP]; 愛知県刈谷市昭和町1丁目1番地 1-1, Showa-cho, Kariya-city, Aichi 4488661, JP
  • トヨタ自動車株式会社 TOYOTA JIDOSHA KABUSHIKI KAISHA [JP/JP]; 愛知県豊田市トヨタ町1番地 1, Toyota-cho, Toyota-shi, Aichi 4718571, JP
発明者
  • 石神 裕丈 ISHIGAMI, Hirotake; JP
  • 白井 孝昌 SHIRAI, Noriaki; JP
  • 松原 利之 MATSUBARA, Toshiyuki; JP
代理人
  • 菊地 保宏 KIKUCHI, Yasuhiro; JP
優先権情報
2013-17177421.08.2013JP
公開言語 (言語コード) 日本語 (JA)
出願言語 (言語コード) 日本語 (JA)
指定国 (国コード)
発明の名称
(EN) OBJECT ESTIMATION DEVICE AND OBJECT ESTIMATION METHOD
(FR) DISPOSITIF D'ESTIMATION D'OBJETS ET PROCÉDÉ D'ESTIMATION D'OBJETS
(JA) 対象物推定装置および対象物推定方法
要約
(EN)
On the basis of a plurality of images which an image acquisition means has photographed from different locations, an object estimation device estimates the location and velocity of an object in the images. The object estimation device comprises: a flow information acquisition means for acquiring, in a reference image which is a reference among the plurality of images, temporal flow information of locations of corresponding pixels from temporally preceding and following frames; a disparity information acquisition means for acquiring, from the plurality of images, disparity information of each corresponding pixel with the reference image as the reference; an estimated value acquisition means for estimating estimated values of the location and velocity of the object in three-dimensional space, using a filter, on the basis of the flow information acquired by the flow information acquisition means and the disparity information acquired by the disparity information acquisition means; a determination means for determining whether the flow information acquired by the flow information acquisition means and the disparity information acquired by the disparity information acquisition means are anomalous values; and a correction means for correcting the estimated values acquired by the estimated value acquisition means on the basis of the determination result of the determination means. The correction means corrects the estimated values estimated by the estimated value acquisition means using different methods for when the determination means has determined that the flow information acquired by the flow information acquisition means is an anomalous value and when the determination means has determined that the disparity information acquired by the disparity information acquisition means is an anomalous value.
(FR)
L'invention concerne, en se basant sur une pluralité d'images qu'un moyen d'acquisition d'images a photographié en différents emplacements, un dispositif d'estimation d'objet qui estime l'emplacement et la vitesse d'un objet dans les images. Le dispositif d'estimation d'objet comprend : un moyen d'acquisition d'informations de flux destiné à acquérir, dans une image de référence qui est une référence parmi la pluralité d'images, des informations temporelles de flux d'emplacements de pixels correspondants parmi des trames temporellement précédentes et suivantes ; un moyen d'acquisition d'informations de disparité destiné à acquérir, parmi la pluralité d'images, des informations de disparité de chaque pixel correspondant avec l'image de référence comme référence ; un moyen d'acquisition de valeur estimée destiné à estimer des valeurs estimées de l'emplacement et de la vitesse de l'objet dans l'espace tridimensionnel, en utilisant un filtre, sur la base des informations de flux acquises par le moyen d'acquisition d'informations de flux et les informations de disparité acquises par le moyen d'acquisition d'informations de disparité ; un moyen de détermination destiné à déterminer si les informations de flux acquises par le moyen d'acquisition d'informations de flux et les informations de disparité acquises par le moyen d'acquisition d'informations de disparité sont des valeurs anonymes ; et un moyen de correction destiné à corriger les valeurs estimées acquises par le moyen d'acquisition de valeur estimée sur la base du résultat de détermination du moyen de détermination. Le moyen de correction corrige les valeurs estimées qui sont estimées par le moyen d'acquisition de valeur estimée en utilisant différents procédés selon que le moyen de détermination a déterminé que les informations de flux acquises par le moyen d'acquisition d'informations de flux sont une valeur anormale et que le moyen de détermination a déterminé que les informations de disparité acquises par le moyen d'acquisition d'informations de disparité sont une valeur anormale.
(JA)
 対象物推定装置は、画像取得手段が異なる位置から撮影した複数の画像に基づいて、当該画像中の対象物の位置および速度を推定する。前記対象物推定装置は、前記複数の画像のうち基準となる基準画像において、時間的に前後するフレームから対応する画素の位置の時間的な推移情報を取得する推移情報取得手段と、前記複数の画像から対応する各画素の視差情報を前記基準画像を基準として取得する視差情報取得手段と、前記推移情報取得手段が取得した推移情報と、前記視差情報取得手段が取得した視差情報とに基づいて、前記対象物の3次元空間上の位置および速度の推定値をフィルタを用いて推定する推定値取得手段と、前記推移情報取得手段が取得した推移情報および前記視差情報取得手段が取得した視差情報が、それぞれ異常値であるか否か判定する判定手段と、前記判定手段の判定結果に基づいて、前記推定値取得手段が取得した前記推定値を補正する補正手段とを備える。前記補正手段は、前記推移情報取得手段が取得した前記推移情報が異常値であると前記判定手段が判定した場合と、前記視差情報取得手段が取得した前記視差情報が異常値であると前記判定手段が判定した場合とで、前記推定値取得手段が取得した推定値を異なる方法で補正する。
他の公開
DE1120140038180
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