BOUNDARY DETECTION APPARATUS AND BOUNDARY DETECTION METHOD

摘要

A boundary detection apparatus includes an acquisition unit, an extraction unit and a detection unit. The acquisition unit acquires a disparity image based on information obtained by capturing an image of a peripheral environment of a vehicle. The extraction unit extracts predetermined pixel regions from first and second pixel regions of the disparity image based on a disparity gradient direction of the first pixel region and a disparity gradient direction of the second pixel region. The detection unit detects a boundary of a step surface existing alongside a road by joining together at least some of the predetermined pixel regions extracted by the extraction unit. The first and second pixel regions sandwich the predetermined pixel region. An angle formed by the disparity gradient direction of the first pixel region and the disparity gradient direction of the second pixel region is within a predetermined angular range of a right angle.

主权项

1. A boundary detection apparatus comprising:
an acquisition unit configured to acquire a disparity image based on information obtained by capturing an image of a peripheral environment of a vehicle, the disparity image including a first pixel region and a second pixel region; an extraction unit configured to extract predetermined pixel regions from the first pixel region and the second pixel region based on a disparity gradient direction of the first pixel region and a disparity gradient direction of the second pixel region; and a detection unit configured to detect a boundary of a step surface existing alongside a road by joining together at least some of the predetermined pixel regions extracted by the extraction unit, wherein the first pixel region and the second pixel region sandwich the predetermined pixel region, and an angle formed by the disparity gradient direction of the first pixel region and the disparity gradient direction of the second pixel region is within a predetermined angular range of a right angle.