IMAGE PROCESSING DEVICE, OBJECT RECOGNITION DEVICE, INSTRUMENT CONTROL SYSTEM, MOVING BODY, IMAGE PROCESSING METHOD AND PROGRAM

• Main Author: MOTOHASHI NAOKI
• Format: Patent
• Language: English; Japanese
• Published: 19.09.2019
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

To provide an image processing device, object recognition device, electronic control system, moving body, image processing method and program that can improve estimation accuracy of a road surface so as to be capable of addressing actual operations.SOLUTION: An image processing device comprises: a division unit that, in a frequency image indicative of a frequency distribution of a distance value associating a position in a vertical direction and the distance value in each position in a distance image with respect to an object, divides a prescribed segment in a direction of the distance value into one or more segments according to a plurality of division patterns different in the number of divisions; an estimation unit that estimates a shape of a road surface of each segment in each division pattern on the basis of each frequency point of the frequency image; and a determination unit that determines a final estimation road in the prescribed segment on the basis of at least the estimation road estimated in each segment in each division pattern by the estimation unit.SELECTED DRAWING: Figure 7 【課題】実運用に耐え得るように路面の推定処理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、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において、距離値の方向における所定区間を、分割数が異なる複数の分割パターンに従って１以上の区間に分割する分割部と、頻度画像の各頻度点に基づいて、各分割パターンでの各区間の路面の形状を推定する推定部と、少なくとも、推定部により各分割パターンでの各区間で推定された推定路面に基づいて、所定区間の最終的な推定路面を決定する決定部と、を備える。【選択図】図７