US 2014/0368656 A1Published application

Three-dimensional object detection device

AssigneeNissan Motor Co., Ltd.

InventorsYasuhisa Hayakawa, Osamu Fukata

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Abstract

A three-dimensional object detection device can enhance the accuracy in detecting a three-dimensional object regardless of the brightness in the detection environment. The device has an image capture means that captures an image of a predetermined area and an image conversion means that converts the image through a viewpoint conversion into birds-eye view image. A first three-dimensional object detection means aligns positions of bird's-eye view images at different times obtained by the image conversion means, counts the number of pixels that exhibit a predetermined difference on a differential image of the aligned bird's-eye view images to generate a frequency distribution thereby creating differential waveform information, and detects a three-dimensional object on the basis of the differential waveform information. A second three-dimensional object detection means detects edge information from the bird's-eye view image obtained by the image conversion means and detects a three-dimensional object on the basis of the edge information.

Claims10

Dependent claims

A three-dimensional object detection device, comprising:

an image capture means that captures an image of a predetermined area;
an image conversion means that performs a view point conversion on the image obtained by the image capture means into a birds-eye view image;
a brightness detection means that detects a brightness in the predetermined area;
a first three-dimensional object detection means that detects a three-dimensional object by generating differential waveform information from a differential image of the bird's-eye view images obtained by the image conversion means at different times and by confirming that the differential waveform information is equal to or greater than a first threshold a when the brightness detected by the brightness detection means is equal to or greater than a predetermined value;
and
a second three-dimensional object detection means that detects a three-dimensional object by detecting edge information from the bird's-eye view image obtained by the image conversion means and confirming that the edge information is equal to or greater than a second threshold β when the brightness detected by the brightness detection means is less than the predetermined value the detects a three-dimensional object on the basis of the edge information.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/363,882Filed 27 Jul 2012
Priority: JP 2011-27668319 Dec 2011
Published: 18 Dec 2014
Term ends: Not estimatedThe source records don’t support an estimate.

Classification21 codes

G06V 20/58
Exterior to a vehicle by using sensors mounted on the vehicle: recognition of moving objects or obstacles, e.g. vehicles or pedestrians;…
B60R 1/002
Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or…:…
G06T 7/13
Segmentation; Edge detection: edge detection
G06V 20/56
Context or environment of the image: exterior to a vehicle by using sensors mounted on the vehicle