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

PROBLEM TO BE SOLVED: To provide an image processing apparatus which detects a road surface accurately, an object recognition apparatus, a device control system, a mobile body, an image processing method, and a program.SOLUTION: An image processing apparatus includes: a dividing unit which divides a...

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Bibliographic Details
Main Author MOTOHASHI NAOKI
Format Patent
LanguageEnglish
Japanese
Published 22.03.2018
Subjects
CALCULATING
COMPUTING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
SIGNALLING
TRAFFIC CONTROL SYSTEMS
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Summary:PROBLEM TO BE SOLVED: To provide an image processing apparatus which detects a road surface accurately, an object recognition apparatus, a device control system, a mobile body, an image processing method, and a program.SOLUTION: An image processing apparatus includes: a dividing unit which divides a frequency image, which indicates a frequency distribution of distance value formed by associating vertical positions in a distance image with respect to an object with distance values in each of the positions, into one or more segments in a distance-value direction; a first selection unit which selects a sample point of 0 or more in each of the positions of the distance value, from frequency points indicating frequency of the distance values, in each of one or more predetermined segments divided by the dividing unit; a first estimation unit which estimates a shape of a road surface from a group of the sample points selected by the first selection unit; and a first determination unit which determines whether a first estimated road surface satisfies a predetermined condition, for a decision as to whether the segment including the first estimated road surface estimated by the first estimation unit is a start segment corresponding to a start position of the road surface.SELECTED DRAWING: Figure 14 【課題】路面を精度よく検出す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、移動体、画像処理方法およびプログラムを提供する。【解決手段】物体に対する距離画像における縦方向の位置と、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を、距離値の方向において１以上のセグメントに分割する分割部と、分割部により分割されたセグメントのうち、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から、各距離値の位置において０以上の標本点を選択する第１選択部と、第１選択部により選択された標本点の群から路面の形状を推定する第１推定部と、第１推定部により推定された路面である第１推定路面を含むセグメントが、路面の開始位置に対応する開始セグメントであることの成否の判断のため、第１推定路面が所定条件を満たすか否かを判定する第１判定部と、を備える。【選択図】図１４
Bibliography:Application Number: JP20170124445