Title:
A solid thing detecting device and a solid thing detecting method
Document Type and Number:
Japanese Patent JP6003987
Kind Code:
B2
Abstract:
The present invention is provided with: three-dimensional object detection units (33, 37) that detect three-dimensional objects on the basis of image information rearwards from a vehicle from a camera (10); a still object determination unit (38) that determines whether or not a three-dimensional object is a still object (Q1) on the basis of the integration value of pixels having a brightness difference of at least a predetermined threshold extracted from a difference image between a current captured image and a past captured image that are not offset (not positioned) and pixel quantity (edge quantity) extracted from a difference image between the current captured image and the past captured image that are offset (positioned) on the basis of captured images of different times; and a control unit (39) that controls each process. The control unit (39) suppresses the determination that a detected three-dimensional object is another vehicle (VX) when it is determined that the three-dimensional object detected by the still object determination unit (38) is a still object (Q1).
Inventors:
Fukada Osamu
Yasuhisa Hayakawa
Yasuhisa Hayakawa
Application Number:
JP2014526959A
Publication Date:
October 05, 2016
Filing Date:
July 24, 2013
Export Citation:
Assignee:
Nissan Motor Co., Ltd
International Classes:
H04N7/18; B60R1/00; G06T1/00; G08G1/16
Domestic Patent References:
| JP2012003662A | ||||
| JP2010256995A | ||||
| JP2008219063A | ||||
| JP2009265783A | ||||
| JP2008158958A |
Foreign References:
| WO2012023412A1 |
Attorney, Agent or Firm:
Eternal patent business corporation