ROAD OBSTACLE DETECTION DEVICE, ROAD OBSTACLE DETECTION METHOD, AND RECORDING MEDIUM

• Main Authors: YAMANAKA MASAO, OGUSHI TOSHIAKI, HORIGUCHI KENJI
• Format: Patent
• Language: Chinese; English
• Published: 13.04.2021
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; PHYSICS

The invention provides a road obstacle detection device, a road obstacle detection method, and a recording medium. The road obstacle detection device which uses a pre-learned first identifier to associate a semantic label with each pixel of an image, uses a pre-learned second identifier to estimate a statistical distribution of a semantic label of a predetermined region of interest of the image from a statistical distribution of a semantic label of a peripheral region that surrounds the region of interest, and uses the statistical distribution of the semantic label associated with the region of interest and the statistical distribution of the semantic label estimated for the region of interest to estimate a likelihood that an object is a road obstacle. 本发明提供路上障碍物检测装置、路上障碍物检测方法及记录介质。路上障碍物检测装置使用预先学习的第一识别器，针对图像的每个像素赋予语义标签，并且，使用预先学习的第二识别器，根据成为所述图像的预先确定的关注区域的周边的周边区域中的语义标签的统计分布来推定所述关注区域的语义标签的统计分布，使用赋予的所述关注区域的语义标签的统计分布和推定出的所述关注区域的语义标签的统计分布来推定路上障碍物的可能性。