Positioning information forming device, detection device, and positioning information forming method

摘要

Provided is a positioning information forming device which improves object detection accuracy. This device comprises a synthesis unit (103) which synthesizes camera distance map information and radar distance map information and generates “synthesized map information”. This synthesized map information is used for object detection processing by a detection device (200). In this way it is possible to improve object detection accuracy by being able to detect objects based on information in which the camera distance map information and radar distance map information have been synthesized. In other words, by synthesizing the camera distance map information and radar distance map information, it is possible to remove unnecessary noise due to reflection from the ground and walls, etc. and therefore set object detection thresholds to low values. It is therefore possible to detect even objects the detection of which was judged to be impossible in the past.

主权项

1. A positioning information forming apparatus that forms positioning information used for detection of an object on the basis of an image based on information detected by a radar, and on an image taken by a stereo camera, comprising;
a first coordinate transforming section that transforms a coordinate system of radar distance map information associating a coordinate group of the image based on the information with distance information, into a reference coordinate system defined by a parallax-axis and one of the coordinate axes of an image plane coordinate system at a virtual position of installation of the positioning information forming apparatus; a first smoothing section that smooths the transformed radar distance map information by applying a first smoothing filter only in the one of the coordinate axes direction; a second coordinate transforming section that transforms a coordinate system of camera distance map information associating a coordinate group of the taken image with distance information, into a reference coordinate system; a second smoothing section that smooths the transformed camera distance map information by applying a second smoothing filter only in the parallax-axis direction; and a combination section that forms combined map information by combining the smoothed radar distance map information and the smoothed camera distance map information.