TARGET POINT ARRIVAL DETECTOR, METHOD OF DETECTING TARGET POINT ARRIVAL, STORAGE MEDIUM OF PROGRAM OF DETECTING TARGET POINT ARRIVAL AND VEHICLE-MOUNTED DEVICE CONTROL SYSTEM
First Claim
1. A target point arrival detector for detecting that a vehicle arrives at a target point based on an image ahead of the vehicle moving on a surface captured by an image capturing unit, the target point arrival detector comprising:
- a target point arrival signal output unit, using a processing circuit, to output a signal indicating that the vehicle arrives at the target point where a surface ahead of the vehicle changes to a downward slope with respect to a surface over which the vehicle moves based on the captured image.
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Abstract
A target point arrival detector for detecting that a vehicle arrives at a target point based on an image ahead of the vehicle moving on a surface captured by an image capturing unit includes a target point arrival signal output unit, using a processing circuit, to output a signal indicating that the vehicle arrives at the target point where an inclination condition of a surface ahead of the vehicle with respect to a surface over which the vehicle moves changes to a downward based on the captured image.
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Citations
9 Claims
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1. A target point arrival detector for detecting that a vehicle arrives at a target point based on an image ahead of the vehicle moving on a surface captured by an image capturing unit, the target point arrival detector comprising:
a target point arrival signal output unit, using a processing circuit, to output a signal indicating that the vehicle arrives at the target point where a surface ahead of the vehicle changes to a downward slope with respect to a surface over which the vehicle moves based on the captured image. - View Dependent Claims (2, 3, 4, 5, 6, 9)
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7. A method of detecting a condition of a surface ahead of a vehicle moving on the surface based on a plurality of images captured with an image capturing unit, the method comprising the steps of:
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generating parallax information based on the plurality of captured images captured with the image capturing unit; generating parallax histogram information, based on the parallax information, indicating parallax value mapping condition for each line prepared by dividing the captured image into a plurality of areas vertically; selecting a group of parallax values that decrease toward an upper part of the captured image among parallax values greater than a preset reference value, based on the parallax histogram information; generating approximated curved line information for the selected group of parallax values; and outputting a signal indicating that the vehicle arrives at a target point when the approximated curved line information satisfies a given target point arrival condition.
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8. A non-transitory computer-readable storage medium storing a line recognition program that, when executed by a computer having a processor, causes the computer to execute a method of detecting a condition of a surface ahead of a vehicle moving on the surface based on a plurality of images captured with an image capturing unit, the method comprising the steps of:
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generating parallax information based on the plurality of captured images captured with the image capturing unit; generating parallax histogram information, based on the parallax information, indicating parallax value mapping condition for each line prepared by dividing the captured image into a plurality of areas vertically; selecting a group of parallax values that decrease toward an upper part of the captured image among parallax values greater than a preset reference value, based on the parallax histogram information; generating approximated curved line information for the selected group of parallax values; and outputting a signal indicating that the vehicle arrives at a target point when the approximated curved line information satisfies a given target point arrival condition.
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Specification