Exterior environment recognition device
First Claim
1. An exterior environment recognition device for recognizing the environment outside of a subject vehicle, on the basis of a color image captured by an onboard camera, the exterior environment recognition device comprising:
- a specific object detection unit to detect a specific object on the basis of the color image;
a data retaining unit to associate and retain the specific object and a luminance range indicating the color of the specific object, and to associate and retain the specific object and the original luminance of the specific object;
a transparency reduction determination unit to compare a luminance of the color image of the specific object and a luminance range associated with the specific object, and to determine a reduction in transparency of a transparent body located in an image-capturing direction of the onboard camera;
a correction amount deriving unit to derive the amount of correction on the basis of a difference between luminance in the color image of the specific object and the original luminance associated with the specific object; and
a luminance correction unit to correct the luminance of the target portion of the color image on the basis of the amount of correction thus derived,wherein the specific object detection unit detects the specific object on the basis of the corrected color image.
3 Assignments
0 Petitions
Accused Products
Abstract
An exterior environment recognition device includes: a specific object detection unit to detect a specific object on the basis of a color image; a data retaining unit to associate and retain the specific object and a luminance range indicating the color of the specific object; and a transparency reduction determination unit to compare a luminance of the color image of the specific object and a luminance range associated with the specific object, and to determine a reduction in transparency of a transparent body located in an image-capturing direction of the onboard camera.
-
Citations
14 Claims
-
1. An exterior environment recognition device for recognizing the environment outside of a subject vehicle, on the basis of a color image captured by an onboard camera, the exterior environment recognition device comprising:
-
a specific object detection unit to detect a specific object on the basis of the color image; a data retaining unit to associate and retain the specific object and a luminance range indicating the color of the specific object, and to associate and retain the specific object and the original luminance of the specific object; a transparency reduction determination unit to compare a luminance of the color image of the specific object and a luminance range associated with the specific object, and to determine a reduction in transparency of a transparent body located in an image-capturing direction of the onboard camera; a correction amount deriving unit to derive the amount of correction on the basis of a difference between luminance in the color image of the specific object and the original luminance associated with the specific object; and a luminance correction unit to correct the luminance of the target portion of the color image on the basis of the amount of correction thus derived, wherein the specific object detection unit detects the specific object on the basis of the corrected color image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
-
Specification