Title:
立体物検出装置
Document Type and Number:
Japanese Patent JP5787024
Kind Code:
B2
Abstract:
This three-dimensional object detection device is provided with: a three-dimensional object detection means (32, 33, 34) for generating difference waveform information by counting the number of pixels indicating a difference at a difference threshold value or higher in a difference image in which bird's-eye view images at different times have been aligned, and detecting a three-dimensional object based on the difference waveform information; a reference image area setting means (35) for setting, as a reference image area, an area that is different from the detection area and in which extraction of contour information of a subject is predicted; a contour information detection means (35) for extracting the contour information of the subject; a reference sharpness calculation means (35) for calculating a reference sharpness based on the contour information detected in the reference image area; and a subject sharpness calculation means (35) for calculating a subject sharpness based on the contour information detected in the detection area. The three-dimensional object detection unit (32, 33, 34) calculates a final sharpness based on the reference sharpness and the subject sharpness, and sets the difference threshold value based on the calculated final sharpness.
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Inventors:
Yasuhisa Hayakawa
Fukada Osamu
Fukada Osamu
Application Number:
JP2014502230A
Publication Date:
September 30, 2015
Filing Date:
February 26, 2013
Export Citation:
Assignee:
Nissan Motor Co., Ltd
International Classes:
G08G1/16; G06T1/00
Domestic Patent References:
| JP2012003662A | ||||
| JP2003189294A | ||||
| JP2010223685A |
Foreign References:
| WO2012023412A1 | ||||
| WO2009057410A1 |
Attorney, Agent or Firm:
Eternal patent business corporation