Three-dimensional object recognition apparatus, three-dimensional object recognition method, and vehicle

• US 9,633,438 B2
• Filed: 09/09/2014
• Issued: 04/25/2017
• Est. Priority Date: 09/11/2013
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tanaka, Kazuhito
• Primary Examiner(s): Strege, John
• Application Number:
  US14/888,184
• Publication Number:
  US 20160063710A1
• Time in Patent Office: 959 Days
• Field of Search: 382154
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06T 2200/04 involving 3D image data
• CPC Class Codes: G06T 2207/30248 Vehicle exterior or interior
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/64 Three-dimensional objects

Abstract

A three-dimensional object recognition apparatus according to the invention includes: an omnidirectional sensor that measures surrounding objects in all directions, and generates positional information capable of specifying positions of the objects as a result of the measurement; a three-dimensional measurement device that measures an object within a certain measurement range among the surrounding objects, and generates three-dimensional shape information capable of specifying a three-dimensional shape of the object as a result of the measurement; and a control unit that updates a shape to be recognized as the three-dimensional shape of the object based on the three-dimensional shape information generated by the three-dimensional measurement device when the object is within the measurement range of the three-dimensional measurement device. The control unit tracks the object based on the positional information generated by the omnidirectional sensor, even after the object has moved out of the measurement range of the three-dimensional measurement device.

Claims

1. A three-dimensional object recognition apparatus comprising:

an omnidirectional sensor that measures surrounding objects in all directions, and generates positional information capable of specifying a position of each of the objects as a result of the measurement;

a three-dimensional measurement device that measures an object within a certain measurement range among the surrounding objects, and generates three-dimensional shape information capable of specifying a three-dimensional shape of the object as a result of the measurement; and

a control unit that updates a shape to be recognized as the three-dimensional shape of the object based on the three-dimensional shape information generated by the three-dimensional measurement device when the object is within the measurement range of the three-dimensional measurement device,

wherein the control unit tracks the object based on the positional information generated by the omnidirectional sensor, even after the object has moved out of the measurement range of the three-dimensional measurement device.

2. The three-dimensional object recognition apparatus according to claim 1, wherein

the control unit estimates a three-dimensional shape of an object outside of the measurement range of the three-dimensional measurement device, based on a shape recognized as the three-dimensional shape of the object, the three-dimensional shape including a variation range of the object, and

the control unit recognizes the estimated three-dimensional shape as the three-dimensional shape of the object outside of the measurement range of the three-dimensional measurement device.

3. The three-dimensional object recognition apparatus according to claim 2, wherein the control unit calculates, as a shape including a variation range of the object, a shape obtained by rotating the three-dimensional shape recognized as the shape of the object.

4. The three-dimensional object recognition apparatus according to claim 2, wherein the three-dimensional shape recognized as the shape of the object is a shape obtained by accumulating three-dimensional shapes of the object specified based on the three-dimensional shape information generated by the three-dimensional measurement device.

5. The three-dimensional object recognition apparatus according to claim 1, further comprising a storage unit that stores three-dimensional shape information indicating a shape recognized as a three-dimensional shape of the object and positional information indicating a position of the object, in such a manner that the three-dimensional shape information and the positional information are linked to each other,

wherein the control unit updates the shape to be recognized as the three-dimensional shape of the object by updating the three-dimensional shape indicated by the three-dimensional shape information stored in the storage unit based on the three-dimensional shape information generated by the three-dimensional measurement device, and tracks the object by updating the position of the object indicated by the positional information stored in the storage unit based on the positional information generated by the omnidirectional sensor.

8. The three-dimensional object recognition apparatus according to claim 3, wherein the three-dimensional shape recognized as the shape of the object is a shape obtained by accumulating three-dimensional shapes of the object specified based on the three-dimensional shape information generated by the three-dimensional measurement device.

9. The three-dimensional object recognition apparatus according to claim 2, further comprising a storage unit that stores three-dimensional shape information indicating a shape recognized as a three-dimensional shape of the object and positional information indicating a position of the object, in such a manner that the three-dimensional shape information and the positional information are linked to each other,

wherein the control unit updates the shape to be recognized as the three-dimensional shape of the object by updating the three-dimensional shape indicated by the three-dimensional shape information stored in the storage unit based on the three-dimensional shape information generated by the three-dimensional measurement device, and tracks the object by updating the position of the object indicated by the positional information stored in the storage unit based on the positional information generated by the omnidirectional sensor.

10. The three-dimensional object recognition apparatus according to claim 3, further comprising a storage unit that stores three-dimensional shape information indicating a shape recognized as a three-dimensional shape of the object and positional information indicating a position of the object, in such a manner that the three-dimensional shape information and the positional information are linked to each other,

wherein the control unit updates the shape to be recognized as the three-dimensional shape of the object by updating the three-dimensional shape indicated by the three-dimensional shape information stored in the storage unit based on the three-dimensional shape information generated by the three-dimensional measurement device, and tracks the object by updating the position of the object indicated by the positional information stored in the storage unit based on the positional information generated by the omnidirectional sensor.

11. The three-dimensional object recognition apparatus according to claim 4, further comprising a storage unit that stores three-dimensional shape information indicating a shape recognized as a three-dimensional shape of the object and positional information indicating a position of the object, in such a manner that the three-dimensional shape information and the positional information are linked to each other,

wherein the control unit updates the shape to be recognized as the three-dimensional shape of the object by updating the three-dimensional shape indicated by the three-dimensional shape information stored in the storage unit based on the three-dimensional shape information generated by the three-dimensional measurement device, and tracks the object by updating the position of the object indicated by the positional information stored in the storage unit based on the positional information generated by the omnidirectional sensor.

6. A three-dimensional object recognition method comprising the steps of:

measuring, by a three-dimensional measurement device, a three-dimensional shape of an object within a certain measurement range of the three-dimensional measurement device among surrounding objects, and updating a shape to be recognized as the three-dimensional shape of the object within the measurement range of the three-dimensional measurement device based on a result of the measurement; and

measuring, by an omnidirectional sensor, positions of the surrounding objects in all directions, and tracking, based on a result of the measurement, an object that has moved out of the measurement range of the three-dimensional measurement device.

7. A vehicle comprising:

an omnidirectional sensor that measures surrounding objects in all directions, and generates positional information capable of specifying a position of each of the objects as a result of the measurement;

a three-dimensional measurement device that measures an object within a certain measurement range among the surrounding objects, and generates three-dimensional shape information capable of specifying a three-dimensional shape of the object as a result of the measurement; and

a control unit that updates a shape to be recognized as the three-dimensional shape of the object based on the three-dimensional shape information generated by the three-dimensional measurement device when the object is within the measurement range of the three-dimensional measurement device, plans a travel path to avoid contact with the obstacle, based on the recognized three-dimensional shape of the object, and controls the vehicle to travel along the planned travel path,

wherein the control unit tracks the object based on the positional information generated by the omnidirectional sensor, even after the object has moved out of the measurement range of the three-dimensional measurement device.