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US 10,501,088 B2Granted
Road surface state determination apparatus, imaging apparatus, imaging system, and road surface state determination method
AssigneeKYOCERA Corporation
InventorsAtsushi Yoshikawa, Takatoshi Nakata, Tomohiro Mitsugi
Life of this patent
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Abstract
A road surface state determination apparatus of the present disclosure includes an acquisition interface configured to acquire an image representing a road surface imaged by a camera, and a controller configured to determine whether the road surface is wet or dry on the basis of a spatial change in luminance of pixels in a continuous region included in the image.
Claims9
A road surface state determination apparatus comprising:
- an acquisition interface configured to acquire an image representing a road surface imaged by a camera;
- and
- a controller configured to determine whether the road surface is wet or dry on the basis of a spatial change in luminance of pixels in a continuous region included in the image,
- wherein the controller is configured to calculate a parameter corresponding to a spatial frequency of the luminance and to determine a wet region of the road surface on the basis of the calculated parameter, and
- wherein the controller is configured to extract a frequency continuous portion in which the parameter corresponding to the spatial frequency of the continuous region of the image is continuous across at least a predetermined length, and when a plurality of frequency continuous portions is extracted, to determine that the road surface is wet at the frequency continuous portion, among the extracted plurality of frequency continuous portions, in which the parameter corresponds to a lower spatial frequency.
2 more elements
An imaging apparatus comprising:
- a camera;
- and
- a road surface state determination apparatus comprising an acquisition interface configured to acquire an image representing a road surface imaged by the camera, and a controller configured to determine whether the road surface is wet or dry on the basis of a spatial change in luminance of pixels in a continuous region included in the image,
- wherein the controller is configured to calculate a parameter corresponding to a spatial frequency of the luminance and to determine a wet region of the road surface on the basis of the calculated parameter, and
- wherein the controller is configured to extract a frequency continuous portion in which the parameter corresponding to the spatial frequency of the continuous region of the image is continuous across at least a predetermined length, and when a plurality of frequency continuous portions is extracted, to determine that the road surface is wet at the frequency continuous portion, among the extracted plurality of frequency continuous portions, in which the parameter corresponds to a lower spatial frequency.
2 more elements
An imaging system comprising:
- a temperature detector configured to measure a temperature of a road surface;
- and
- an imaging apparatus comprising a camera and a road surface state determination apparatus, the road surface state determination apparatus comprising an acquisition interface configured to acquire an image representing a road surface imaged by the camera and a signal related to the temperature of the road surface and a controller configured to determine whether the road surface is wet or dry on the basis of a luminance of pixels included in the image and to determine whether the road surface is frozen on the basis of the signal related to the temperature of the road surface,
- wherein the controller is configured to calculate a parameter corresponding to a spatial frequency of the luminance and to determine a wet region of the road surface on the basis of the calculated parameter, and
- wherein the controller is configured to extract a frequency continuous portion in which the parameter corresponding to the spatial frequency of the continuous region of the image is continuous across at least a predetermined length, and when a plurality of frequency continuous portions is extracted, to determine that the road surface is wet at the frequency continuous portion, among the extracted plurality of frequency continuous portions, in which the parameter corresponds to a lower spatial frequency.
2 more elements
A road surface state determination method comprising:
- acquiring, using an acquisition interface, an image representing a road surface imaged by a camera, and
- determining, using a controller, whether the road surface is wet or dry on the basis of a spatial change in luminance of pixels in a continuous region included in the image, by at least
- calculating a parameter corresponding to a spatial frequency of the luminance and determining a wet region of the road surface on the basis of the calculated parameter, and
- extracting a frequency continuous portion in which the parameter corresponding to the spatial frequency of the continuous region of the image is continuous across at least a predetermined length, and when a plurality of frequency continuous portions is extracted, determining that the road surface is wet at the frequency continuous portion, among the extracted plurality of frequency continuous portions, in which the parameter corresponds to a lower spatial frequency.
1 more element
Dependencies are inferred from the claim text.