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Positioning information forming device, detection device, and positioning information forming method

  • US 8,983,130 B2
  • Filed: 01/11/2012
  • Issued: 03/17/2015
  • Est. Priority Date: 01/25/2011
  • Status: Expired due to Fees
First Claim
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1. A positioning information forming apparatus that forms positioning information used for detection of an object on the basis of an image based on information detected by a radar, and on an image taken by a stereo camera, comprising;

  • a first coordinate transforming section that transforms a coordinate system of radar distance map information associating a coordinate group of the image based on the information with distance information, into a reference coordinate system defined by a parallax-axis and one of the coordinate axes of an image plane coordinate system at a virtual position of installation of the positioning information forming apparatus;

    a first smoothing section that smooths the transformed radar distance map information by applying a first smoothing filter only in the one of the coordinate axes direction;

    a second coordinate transforming section that transforms a coordinate system of camera distance map information associating a coordinate group of the taken image with distance information, into a reference coordinate system;

    a second smoothing section that smooths the transformed camera distance map information by applying a second smoothing filter only in the parallax-axis direction; and

    a combination section that forms combined map information by combining the smoothed radar distance map information and the smoothed camera distance map information.

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