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US 10,650,271 B2Granted
Image processing apparatus, imaging device, moving object device control system, and image processing method
AssigneeRicoh Company, Ltd.
InventorsOtoichi Nakata, Naoki Motohashi, Shinichi Sumiyoshi
Life of this patent
Estimating the term…
Abstract
An image processing apparatus includes a processor configured to generate vertical direction distribution data which is a distribution of distance values to a vertical direction of a distance image from the distance image having distance values according to distance of a road surface in captured images. There is an extraction of a pixel having the highest frequency value for each of the distance values from pixels in a search area. There is a detection of the road surface based on each pixel extracted.
Claims7
An image processing apparatus comprising:
- a processor configured to:
- generate vertical direction distribution data which is a distribution of distance values along a vertical direction to a distance image from the distance image having distance values according to distance of a road surface in captured images obtained by an imaging circuit mounted on a moving object;
- select one coordinate on abscissa axis of coordinates of a map represented by the vertical direction distribution data and set the selected one coordinate as an observation point;
- select a range on the abscissa axis of the coordinate, the range including the observation point;
- set a search area having a width corresponding to the range on the abscissa axis and a height;
- extract a pixel having a highest frequency value for each of the distance values from pixels in the search area;
- detect the road surface based on each pixel extracted;
- and
- control the moving object based on the detected road surface.
6 more elements
An imaging device comprising:
- a plurality of imaging circuits mounted on a moving object;
- circuitry configured to:
- generate a distance image having distance values according to a parallax of a road surface in captured images obtained by the plurality of imaging circuits;
- generate vertical direction distribution data which is a distribution of distance values along a vertical direction to the distance image;
- select one coordinate on abscissa axis of coordinates of a map represented by the vertical direction distribution data and set the selected one coordinate as an observation point;
- select a range on the abscissa axis of the coordinate, the range including the observation point;
- set a search area having a width corresponding to the range on the abscissa axis and a height;
- extract a pixel having a highest frequency value for each of the distance values from pixels in the search area;
- detect the road surface based on each pixel which has been extracted;
- and
- control the moving object based on the detected road surface.
8 more elements
A moving object device control system comprising:
- a plurality of imaging circuits mounted at a moving object which captures images of a forward area of the moving object;
- circuitry configured to:
- generate a distance image having distance values according to a parallax of a moving surface or a road surface in captured images obtained by the plurality of imaging circuits;
- generate vertical direction distribution data which is a distribution of distance values along vertical direction to the distance image;
- select one coordinate on abscissa axis of coordinates of a map represented by the vertical direction distribution data and set the selected one coordinate as an observation point;
- select a range on the abscissa axis of the coordinate, the range including the observation point;
- set a search area having a width corresponding to the range on the abscissa axis and a height;
- extract a pixel having a highest frequency value for each of the distance values from pixels in the search area;
- and
- detect the moving surface or the road surface based on each pixel which has been extracted;
- detect an object based on the moving surface detected or the distance image;
- and
- control the moving object based on data of the object which has been detected.
10 more elements
An image generation method, comprising:
- generating vertical direction distribution data which is a distribution of distance values along a vertical direction to a distance image from the distance image having distance values according to distance of a road surface in captured images obtained by an imaging circuit mounted on a moving object;
- selecting one coordinate on abscissa axis of coordinates of a map represented by the vertical direction distribution data and setting the selected one coordinate as an observation point;
- selecting a range on the abscissa axis of the coordinate, the range including the observation point;
- setting a search area having a width corresponding to the range on the abscissa axis and a height;
- extracting a pixel having a highest frequency value for each of the distance values from pixels in the search area;
- detecting the road surface based on each pixel extracted;
- and
- controlling the moving object based on the detected road surface.
5 more elements
Dependencies are inferred from the claim text.