发明名称 |
ROADSIDE OBJECT DETECTION APPARATUS |
摘要 |
A roadside object detection apparatus to detect a roadside object using a plurality of captured images includes a height information detection unit configured to analyze the captured images, and to detect height information of an object in the captured images in a neighboring region having a distance less than or equal to a threshold from a vehicle having the roadside object detection apparatus installed; a height change detection unit configured to detect a change of a height of a road surface due to the roadside object from the height information in the neighboring region; a characteristic point extrapolation unit configured to determine positions having the change of the height detected as characteristic points of the roadside object, and to extrapolate the characteristic points into a far-off region having a distance greater than or equal to the threshold from the vehicle, based on a road model; and a roadside object detection unit configured to set a search range for the roadside object in the far-off region based on a virtual line that is obtained by the characteristic points being extrapolated by the characteristic point extrapolation unit, and to detect the roadside object in the far-off region based on the search range. |
申请公布号 |
US2015165972(A1) |
申请公布日期 |
2015.06.18 |
申请号 |
US201214402197 |
申请日期 |
2012.10.26 |
申请人 |
Toyota Jidosha Kabushiki Kaisha |
发明人 |
Takemae Yoshinao;Watanabe Akihiro;Ichino Fumiya |
分类号 |
B60R1/00;G06K9/00;H04N7/18;G06T7/60 |
主分类号 |
B60R1/00 |
代理机构 |
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代理人 |
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主权项 |
1. A roadside object detection apparatus to detect a roadside object using a plurality of captured images, comprising:
a height information detection unit configured to analyze the captured images, and to detect height information of an object in the captured images in a neighboring region having a distance less than or equal to a threshold from a vehicle having the roadside object detection apparatus installed; a height change detection unit configured to detect a change of a height of a road surface due to the roadside object from the height information in the neighboring region; an extrapolation unit configured to determine positions having the change of the height detected as characteristic points of the roadside object, to define a road model based on the characteristic points, and to extrapolate the road model into a far-off region having a distance greater than or equal to the threshold from the vehicle; and a roadside object detection unit configured to set a search range for the roadside object in the far-off region based on a virtual line that is obtained by the road model being extrapolated by the extrapolation unit, and to detect the roadside object in the far-off region based on the search range. |
地址 |
Aichi JP |