Image processing device, image processing method, and storage medium
AssigneeHonda Motor Co., Ltd.
InventorYuji Yasui
Life of this patent
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Abstract
An image processing device acquires a probability value and corresponding coordinates by using a learned model that outputs a probability value indicating an existence probability of a road boundary for each of coordinates in an image in response to an input of the image representing an area in front of a mobile object, captured by a camera mounted on the mobile object, rearranges a plurality of coordinates in descending order of the probability value, iteratively updates parameters of a function that approximates the road boundary in the image using the plurality of coordinates in the rearranged order, and executes driving control or driving assistance of the mobile object on the basis of the road boundary approximated by the function defined by the updated parameters.
Claims8
An image processing device comprising:
- a storage medium configured to store an instruction readable by a computer and a processor that is connected to the storage medium,
- wherein the processor executes the instruction readable by the computer, thereby
- acquiring a probability value and corresponding coordinates by using a learned model that outputs a probability value indicating an existence probability of a road boundary for each of coordinates in an image in response to an input of the image representing an area in front of a mobile object, captured by a camera mounted on the mobile object,
- rearranging a plurality of coordinates in descending order of the probability value,
- iteratively updating parameters of a function that approximates the road boundary in the image by iteratively substituting the plurality of coordinates into the function in the rearranged order and minimizing an error between a component of the coordinates in a first direction and an estimated value of the component in the first direction calculated on the basis of a component of the coordinates in a second direction, and
- executing driving control or driving assistance of the mobile object on the basis of the road boundary approximated by the function defined by the updated parameters.
An image processing method comprising:
- by a computer,
- acquiring a probability value and corresponding coordinates by using a learned model that outputs a probability value indicating an existence probability of a road boundary for each of coordinates in an image in response to an input of the image representing an area in front of a mobile object, captured by a camera mounted on the mobile object;
- rearranging a plurality of coordinates in descending order of the probability value;
- iteratively updating parameters of a function that approximates the road boundary in the image by iteratively substituting the plurality of coordinates into the function in the rearranged order and minimizing an error between a component of the coordinates in a first direction and an estimated value of the component in the first direction calculated on the basis of a component of the coordinates in a second direction, and
- executing driving control or driving assistance of the mobile object on the basis of the road boundary approximated by the function defined by the updated parameters.
A computer-readable non-transitory storage medium that stores a program causing a computer to execute:
- acquiring a probability value and corresponding coordinates by using a learned model that outputs a probability value indicating an existence probability of a road boundary for each of coordinates in an image in response to an input of the image representing an area in front of a mobile object, captured by a camera mounted on the mobile object,
- rearranging a plurality of coordinates in descending order of the probability value,
- iteratively updating parameters of a function that approximates the road boundary in the image by iteratively substituting the plurality of coordinates into the function in the rearranged order and minimizing an error between a component of the coordinates in a first direction and an estimated value of the component in the first direction calculated on the basis of a component of the coordinates in a second direction, and
- executing driving control or driving assistance of the mobile object on the basis of the road boundary approximated by the function defined by the updated parameters.
Dependencies are inferred from the claim text.