IMAGE PROCESSING APPARATUS, OBJECT RECOGNITION APPARATUS, DEVICE CONTROL SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM

• Main Author: MOTOHASHI NAOKI
• Format: Patent
• Language: English; Japanese
• Published: 22.03.2018
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS; SIGNALLING; TRAFFIC CONTROL SYSTEMS

PROBLEM TO BE SOLVED: To provide an image processing apparatus which improves accuracy of road surface estimation, an object recognition apparatus, a device control system, an image processing method, and a program.SOLUTION: An image processing apparatus includes: a setting unit which determines two second coordinates indicating distances that intersect with axes of two first coordinates, in a frequency image which indicates a frequency distribution of distance value formed by associating positions of the first coordinates in a distance image with distance values in each of the positions, on the basis of a predetermined method, from the arbitrary two first coordinates in a vertical direction in the distance image with respect to a subject, and sets a partial area on the frequency image formed between the two second coordinates, as a segment; and a shape estimation unit which estimates a shape of a road surface, on the basis of frequency points indicating frequency of distance value, in each of one or more predetermined segments set by the setting unit.SELECTED DRAWING: Figure 15 【課題】路面推定の精度を向上させることができる画像処理装置、物体認識装置、機器制御システム、画像処理方法およびプログラムを提供する。【解決手段】被写体に対する距離画像における縦方向の任意の２つの第１座標から、所定の方法に基づいて、距離画像における第１座標の位置と、各位置における距離値と、を関連付けた距離値の頻度分布を示す頻度画像において第１座標の軸と交差する距離を示す２つの第２座標を決定し、２つの第２座標に挟まれた頻度画像上の部分領域をセグメントとして設定する設定部と、設定部により設定された所定の１以上の各セグメントにおいて、距離値の頻度を示す各頻度点に基づいて、路面の形状を推定する形状推定部と、を備える。【選択図】図１５