Vehicle external environment recognition device
First Claim
1. A vehicle external environment recognition device, comprising:
- a three-dimensional position deriving module that derives three-dimensional positions of subject parts in a real space based on an image obtained by imaging a detection area;
an object identifying module that groups the subject parts of which differences in the three-dimensional positions are within a predetermined range to identify an object;
a positional point deriving module that derives a positional point based on positional information related to the position of the object;
an appearance point deriving module that derives an appearance point based on appearance information related to the appearance of the object; and
a pedestrian identifying module that identifies the object to be a pedestrian when a pedestrian point that is obtained by at least adding the positional point to the appearance point equals to or greater than a predetermined threshold.
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Accused Products
Abstract
A vehicle exterior environment recognition device includes a three-dimensional position deriving module that derives three-dimensional positions of subject parts in a real space based on an image obtained by imaging a detection area, an object identifying module that groups the subject parts of which differences in the three-dimensional positions are within a predetermined range to identify an object, a positional point deriving module that derives a positional point based on positional information of the object, an appearance point deriving module that derives an appearance point based on appearance information of the object, and a pedestrian identifying module that identifies the object to be a pedestrian when a pedestrian point that is obtained by at least adding the positional point to the appearance point equals to or greater than a predetermined threshold.
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Citations
17 Claims
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1. A vehicle external environment recognition device, comprising:
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a three-dimensional position deriving module that derives three-dimensional positions of subject parts in a real space based on an image obtained by imaging a detection area; an object identifying module that groups the subject parts of which differences in the three-dimensional positions are within a predetermined range to identify an object; a positional point deriving module that derives a positional point based on positional information related to the position of the object; an appearance point deriving module that derives an appearance point based on appearance information related to the appearance of the object; and a pedestrian identifying module that identifies the object to be a pedestrian when a pedestrian point that is obtained by at least adding the positional point to the appearance point equals to or greater than a predetermined threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A vehicle external environment recognition device, comprising:
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a three-dimensional position deriving module that derives three-dimensional positions of subject parts in a real space based on an image obtained by imaging a detection area; an object identifying module that groups the subject parts of which differences in the three-dimensional positions are within a predetermined range to identify an object; a contour identifying module that identifies a contour of the object from an edge based on luminance of the image; and a color tone determining module that compares color tones of pixels inside and outside the contour of the object to identify the object to be a pedestrian based on a result of the comparison.
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Specification