Three-dimensional object detection device
First Claim
1. A three-dimensional object detection device comprising:
- an image capturing unit configured to capture images of an area including a right-side detection area or a left-side detection area rearward of a vehicle;
a three-dimensional object detection unit programmed to detect a three-dimensional object based on the images acquired by the image capturing unit;
a high-luminance area assessment unit programmed to assess whether one of the right-side detection area and the left-side detection area includes a high-luminance area complying with a predetermined reference, and—
if one of the right-side detection area and the left-side detection area includes the high-luminance area—
to selectively designate the one of the right-side detection area and the left-side detection area as a first detection area and the other of the right-side detection area and the left-side detection area as a second detection area, the high-luminance area corresponding to a bright environment illuminated by light; and
a controller programmed to selectively suppress detection of the three-dimensional object based on image information of the first detection area, and to maintain or promote detection of the three-dimensional object based on image information of the second detection area.
1 Assignment
0 Petitions
Accused Products
Abstract
A three-dimensional object detection has an image capturing device, a three-dimensional object detection unit, a high-luminance area assessment unit and a controller. The image capturing device captures images of an area including a right-side detection area or a left-side detection area rearward of a vehicle. The three-dimensional object detection unit detects a three-dimensional object based on the images acquired by the image capturing device. The high-luminance area assessment unit accesses a first detection area including a high-luminance area complying with a predetermined reference on either the right-side detection area or the left-side detection area. The controller suppresses detection of the three-dimensional object based on image information of the first detection area that was detected, and maintains or promotes detection of the three-dimensional object based on image information of a second detection area other than the first detection area within the right-side detection area or the left-side detection area.
-
Citations
12 Claims
-
1. A three-dimensional object detection device comprising:
-
an image capturing unit configured to capture images of an area including a right-side detection area or a left-side detection area rearward of a vehicle; a three-dimensional object detection unit programmed to detect a three-dimensional object based on the images acquired by the image capturing unit; a high-luminance area assessment unit programmed to assess whether one of the right-side detection area and the left-side detection area includes a high-luminance area complying with a predetermined reference, and—
if one of the right-side detection area and the left-side detection area includes the high-luminance area—
to selectively designate the one of the right-side detection area and the left-side detection area as a first detection area and the other of the right-side detection area and the left-side detection area as a second detection area, the high-luminance area corresponding to a bright environment illuminated by light; anda controller programmed to selectively suppress detection of the three-dimensional object based on image information of the first detection area, and to maintain or promote detection of the three-dimensional object based on image information of the second detection area. - View Dependent Claims (2, 3)
-
-
4. A three-dimensional object detection device comprising:
-
an image capturing unit configured to capture images of an area including a right-side detection area or a left-side detection area rearward of a vehicle; a three-dimensional object detection unit programmed to detect a three-dimensional object based on the images acquired by the image capturing unit; a high-luminance area assessment unit programmed to assess a first detection area including a high-luminance area complying with a predetermined reference on either the right-side detection area or the left-side detection area; an image conversion unit programmed to perform viewpoint conversion of the images obtained by the image capturing unit to bird'"'"'s-eye view images; a three-dimensional object assessment unit programmed to access whether the three-dimensional object detected by the three-dimensional object detection unit is another vehicle, the three-dimensional object detection unit being further programmed to detect a presence of the three-dimensional object in a detection area set on each of a right side and a left side rearward of the vehicle based on differential waveform information in which the differential waveform information is generated by aligning bird'"'"'s-eye view positions of bird'"'"'s-eye view images obtained at different points in time by the image conversion unit, and counting a number of pixels indicating a predetermined difference in a differential image on the bird'"'"'s-eye view images that were aligned in which the predetermined difference is indicated by a luminance difference in the differential image along a direction of collapsing of the three-dimensional object when viewpoint conversion of the bird'"'"'s-eye view images is performed to create a frequency distribution; and a controller programmed to suppress detection of the three-dimensional object or assessment that the three-dimensional object is another vehicle based on image information of the detected first detection area, and to maintain or promote detection of the three-dimensional object or assessment that the three-dimensional object is another vehicle based on image information of a second detection area other than the first detection area within the right-side detection area or the left-side detection area. - View Dependent Claims (5, 6)
-
-
7. A three-dimensional object detection device comprising:
-
an image capturing unit configured to capture images of an area including a right-side detection area or a left-side detection area rearward of a vehicle; a three-dimensional object detection unit programmed to detect a three-dimensional object based on the images acquired by the image capturing unit; a high-luminance area assessment unit programmed to assess a first detection area including a high-luminance area complying with a predetermined reference on either the right-side detection area or the left-side detection area; an image conversion unit programmed to perform viewpoint conversion of the images obtained by the image capturing unit to bird'"'"'s-eye view images; a three-dimensional object assessment unit programmed to access whether a three-dimensional object detected by the three-dimensional object detection unit is another vehicle, the three-dimensional object detection unit being further programmed to detect a presence of the three-dimensional object based on edge information derived from an edge component that is detected, on the bird'"'"'s-eye view images obtained by the image conversion unit, the edge component including pixels in which a luminance difference between mutually adjacent image areas is greater than or equal to a predetermined difference along a direction of collapsing of the three-dimensional object is used, when viewpoint conversion of the bird'"'"'s-eye view images is performed, to detect the presence of the three-dimensional object based on the edge information derived from the edge component; and a controller programmed to suppress detection of the three-dimensional object or assessment that the three-dimensional object is another vehicle based on image information of the detected first detection area, and to maintain or promote detection of the three-dimensional object or assessment that the three-dimensional object is another vehicle based on image information of a second detection area other than the first detection area within the right-side detection area or the left-side detection area. - View Dependent Claims (8, 9)
-
-
10. A three-dimensional object detection device comprising:
-
an image capturing unit configured to capture images of an area including a right-side detection area or a left-side detection area rearward of a vehicle; a three-dimensional object detection unit programmed to detect a three-dimensional object based on the images acquired by the image capturing unit; a high-luminance area assessment unit programmed to assess a first detection area including a high-luminance area complying with a predetermined reference on either the right-side detection area or the left-side detection area, the high-luminance area assessment unit is further programmed to execute; acquiring a traveling direction and a travel location of the vehicle; referencing a correlation obtained by associating left and right identifiers of a first detection area predicted to include a high-luminance area in a relationship between the traveling direction of the vehicle and a direction in which the sun is present; and assessing that the first detection area includes the high-luminance area within the right-side detection area or the left-side detection area based on a direction in which the sun is present at the travel location that was acquired as assessed from the travel location that was acquired and calendar information that associates a direction in which the sun is present at individual travel locations and a point in time, and based on the acquired traveling direction at the acquired travel location of the vehicle; and a controller programmed to suppress detection of the three-dimensional object based on image information of the first detection area that was detected, and to maintain or promote detection of the three-dimensional object based on image information of a second detection area other than the first detection area within the right-side detection area or the left-side detection area. - View Dependent Claims (11, 12)
-
Specification