Title:
FORWARD MONITORING DEVICE AND METHOD FOR CALIBRATING FORWARD MONITORING DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/044564
Kind Code:
A1
Abstract:
The forward monitoring device in the present disclosure comprises: an image input unit which has a stereo camera that images the advancing direction of a train, and to which are inputted a before-travel binocular image captured by the stereo camera before train travel and a during-travel binocular image captured during travel; a landmark detection unit that detects a plurality of landmarks in the train surroundings from the before-travel binocular image and detects one landmark in the train surroundings from the during-travel binocular image; and a calibration unit that performs, on the before-travel binocular image, a first calibration calculation on the basis of position information of the plurality of landmarks in the train surroundings, and performs, on the during-travel binocular image, a second calibration calculation, which is faster than the first calibration calculation, on the basis of position information of the one landmark in the train surroundings. The calibration unit compares estimated position information of the first landmark in the train surroundings computed from the during-travel binocular image corrected on the basis of the first calibration calculation carried out before train travel, and reference position information, which is a reference position of the one landmark in the train surroundings. If the amount by which the estimated position information deviates from the reference position information is equal to or greater than a threshold value, the calibration unit performs a correction on the during-travel binocular image on the basis of the second calibration calculation.
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Inventors:
KAGE HIROSHI (JP)
Application Number:
PCT/JP2019/034902
Publication Date:
March 11, 2021
Filing Date:
September 05, 2019
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B61K13/00; B61L25/02; G01B11/00; G01C3/00; G06T7/80; H04N5/232
Foreign References:
| JP2019078700A | 2019-05-23 | |||
| JP2015175635A | 2015-10-05 | |||
| JP2018153375A | 2018-10-04 |
Attorney, Agent or Firm:
MURAKAMI, Kanako et al. (JP)
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