THREE-DIMENISIONAL OBJECT DETECTION DEVICE
First Claim
1. A three-dimensional object detection device comprising:
- an image capturing unit arranged to capture images of a predetermined area relative to an adjacent lane rearward of a host vehicle equipped with the three-dimensional object detection device;
an image conversion unit programmed to convert a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images;
a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the adjacent lane in which the bird'"'"'s-eye view images obtained at different times by the image conversion unit are aligned, and difference waveform information is generated by counting and creating a frequency distribution of a number of pixels that indicate a difference having a predetermined first threshold value or higher in a difference image of the bird'"'"'s-eye view images that were aligned to detect the presence of the three-dimensional object within the adjacent lane upon determining the difference waveform information is at a predetermined second threshold value or higher;
a light source detection unit programmed to detect a light source present rearward of the host vehicle based on the images obtained by the image capturing unit; and
a control unit programmed to set at least one of the first and second threshold values higher so that the three-dimensional object is more difficult to detect in a forward area than a rearward area with respect to a line connecting the light source and the image capturing unit in the predetermined area when the light source has been detected by the light source detection unit.
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Accused Products
Abstract
A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a light source detection unit and a control unit. The image conversion unit converts a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within the adjacent lane. The three-dimensional object detection unit determines the presence of the three-dimensional object within the adjacent lane-when the difference waveform information is at a threshold value or higher. The control unit set a threshold value higher so that the three-dimensional object is more difficult to detect in a forward area than rearward area with respect to a line connecting the light source and the image capturing unit when the light source has been detected.
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Citations
13 Claims
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1. A three-dimensional object detection device comprising:
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an image capturing unit arranged to capture images of a predetermined area relative to an adjacent lane rearward of a host vehicle equipped with the three-dimensional object detection device; an image conversion unit programmed to convert a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images; a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the adjacent lane in which the bird'"'"'s-eye view images obtained at different times by the image conversion unit are aligned, and difference waveform information is generated by counting and creating a frequency distribution of a number of pixels that indicate a difference having a predetermined first threshold value or higher in a difference image of the bird'"'"'s-eye view images that were aligned to detect the presence of the three-dimensional object within the adjacent lane upon determining the difference waveform information is at a predetermined second threshold value or higher; a light source detection unit programmed to detect a light source present rearward of the host vehicle based on the images obtained by the image capturing unit; and a control unit programmed to set at least one of the first and second threshold values higher so that the three-dimensional object is more difficult to detect in a forward area than a rearward area with respect to a line connecting the light source and the image capturing unit in the predetermined area when the light source has been detected by the light source detection unit. - View Dependent Claims (2, 5, 6, 8, 9)
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3. A three-dimensional object detection device comprising:
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an image capturing unit arranged to capture images of a predetermined area including an adjacent lane rearward of a host vehicle equipped with the three-dimensional object detection device; an image conversion unit programmed to convert a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images; a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the adjacent lane based on edge information having a predetermined first threshold value or higher from the bird'"'"'s-eye view images obtained by the image conversion unit, and the three-dimensional object detection unit determining the presence of the three-dimensional object within the adjacent lane upon determining the edge information is at a predetermined second threshold value or higher; a light source detection unit programmed to detect a light source present rearward of the host vehicle based on the images obtained by the image capturing unit; and a control unit programmed to set at least one of the first and second threshold values higher so that the three-dimensional object is more difficult to detect in a forward area than a rearward area with respect to a line connecting the light source and the image capturing unit in the predetermined area when the light source has been detected by the light source detection unit. - View Dependent Claims (4, 10, 11, 12, 13)
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7. A three-dimensional object detection device comprising:
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an image capturing unit arranged to capture an image of a predetermined area relative to an adjacent lane rearward of a host vehicle equipped with the three-dimensional object detection device; an image conversion unit programmed to convert a viewpoint of the image obtained by the image capturing unit to create a bird'"'"'s-eye view image; a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the adjacent lane based on distribution information of pixels in the bird'"'"'s-eye view image obtained by the image conversion unit in which a luminance difference is at a predetermined first threshold value or greater along a direction in which the three-dimensional object collapses when converted in viewpoint to the bird'"'"'s-eye view image, and the three-dimensional object detection unit determining the presence of the three-dimensional object upon determining an amount of distribution of the pixels in the direction in which the three-dimensional object collapses is at a predetermined second threshold value or greater; a light source detection unit programmed to detect a light source present rearward of the host vehicle based on the image obtained by the image capturing unit; and a control unit programmed to set at least one of the first and second threshold values higher so that the three-dimensional object is more difficult to detect in a forward area than a rearward area with respect to a line connecting the light source and the image capturing unit in the predetermined area when the light source has been detected by the light source detection unit.
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Specification