Image processing apparatus, image processing method, and vehicle control system to determine the presence of an object from an image of a peripheral area of a moving body
First Claim
1. An image processing apparatus comprising:
- a discrimination information generation unit configured to generate analysis object discrimination information by using a polarization image indicating a peripheral area of a moving body; and
an image analysis unit configured to perform discrimination of an object by using an image of an image analysis area set on the basis of the analysis object discrimination information generated by the discrimination information generation unit to a non-polarization image indicating the peripheral area of the moving body, whereinthe discrimination information generation unit generates, as the analysis object discrimination information, information related to a braking distance of the moving body in the peripheral area of the moving body by using the polarization image, andthe image analysis unit sets an area within the braking distance as the image analysis area.
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Abstract
An image acquisition unit 341-1 acquires a polarization image and a non-polarization image indicating a peripheral area of a moving body, such as the peripheral area of a vehicle. A discrimination information generation unit 342-1 uses the polarization image acquired by the image acquisition unit 341-1 and generates analysis object discrimination information indicating a road surface or the like. An image analysis unit 344-1 uses an image of an image analysis area set on the basis of the analysis object discrimination information generated by the discrimination information generation unit 342-1 with respect to the non-polarization image acquired by the image acquisition unit 341-1, and performs a discrimination of an object, such as an obstacle on the road surface. It is possible to efficiently perform a determination of the presence of the object from the non-polarization image of the peripheral area of the moving body.
8 Citations
13 Claims
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1. An image processing apparatus comprising:
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a discrimination information generation unit configured to generate analysis object discrimination information by using a polarization image indicating a peripheral area of a moving body; and an image analysis unit configured to perform discrimination of an object by using an image of an image analysis area set on the basis of the analysis object discrimination information generated by the discrimination information generation unit to a non-polarization image indicating the peripheral area of the moving body, wherein the discrimination information generation unit generates, as the analysis object discrimination information, information related to a braking distance of the moving body in the peripheral area of the moving body by using the polarization image, and the image analysis unit sets an area within the braking distance as the image analysis area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An image processing method comprising:
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generating analysis object discrimination information by a discrimination information generation unit by using a polarization image indicating a peripheral area of a moving body; and performing discrimination of an object by an image analysis unit by using an image of an image analysis area set on the basis of the analysis object discrimination information generated by the discrimination information generation unit to a non-polarization image indicating the peripheral area of the moving body, wherein generating analysis object discrimination information includes generating, as the analysis object discrimination information, information related to a braking distance of the moving body in the peripheral area of the moving body by using the polarization image, further including setting, by the image analysis unit, an area within the braking distance as the image analysis area.
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13. A vehicle control system comprising:
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a discrimination information generation unit configured to generate analysis object discrimination information by using a polarization image indicating a peripheral area of a vehicle; an image analysis unit configured to perform discrimination of an object by using an image of an image analysis area set on the basis of the analysis object discrimination information generated by the discrimination information generation unit to a non-polarization image indicating the peripheral area of the vehicle; and a driving system control unit configured to perform control of the vehicle on the basis of a discrimination result of the object in the image analysis unit, wherein the discrimination information generation unit generates, as the analysis object discrimination information, information related to a braking distance of the vehicle in the peripheral area of the vehicle by using the polarization image, and the image analysis unit sets an area within the braking distance as the image analysis area.
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Specification