IMAGE PROCESSING APPARATUS, IMAGING APPARATUS, MOVING BODY DEVICE CONTROL SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM

• Main Author: MOTOHASHI NAOKI
• Format: Patent
• Language: English; Japanese
• Published: 24.11.2017
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS

PROBLEM TO BE SOLVED: To improve the accuracy in detecting a road surface.SOLUTION: An image processing device comprises: a creation part that creates, from a distance image having a distance value according to a road surface in a plurality of photographed images photographed respectively by a plurality of imaging parts and the distance to an obstacle blocking the road surface, vertical direction distribution data indicating a distribution of the frequency of the distance value with respect to the vertical direction of the distance image; an estimation part that estimates the height of the road surface according to the distance on the basis of the vertical direction distribution data; and a modification part that modifies to lower the height of the road surface estimated by the estimation part in the distance of the obstacle.SELECTED DRAWING: Figure 3 【課題】路面を検出する精度を向上させること。【解決手段】画像処理装置において、複数の撮像部で各々撮影された複数の撮影画像における路面及び前記路面を遮る障害物の距離に応じた距離値を有する距離画像から、前記距離画像の垂直方向に対する距離値の頻度の分布を示す垂直方向分布データを生成する生成部と、前記垂直方向分布データに基づいて、前記距離に応じた前記路面の高さを推定する推定部と、前記推定部により推定された前記障害物の距離における路面の高さを、低く修正する修正部と、を備える。【選択図】図３