US 2025/0029401 A1 · IMAGE PROCESSING DEVICE

Abstract

Provided is an image processing device that is capable of storing three-dimensional information relating to a road surface (3D road surface information), transforming/converting the stored 3D road surface information into a current time by using motion of a vehicle, using the three-dimensional information from the road surface together with monocular-based distance estimation processing, increasing the distance measurement accuracy without requiring a special sensor while maintaining the obstacle detection accuracy, and, in particular, supporting a case where an ego vehicle is turning at an intersection that may include a sidewalk area (that is, which includes a difference in ground height relative to a roadway area) that requires accurate monocular-based distance measurement for a detected obstacle. The obstacle ranging unit 161 performs monocular-based distance estimation processing, and uses the 3D road surface information stored via the 3D road surface information acquisition unit 131 and converted to the current time by the 3D road surface information management unit 141.

Claims5

Dependent claims

An image processing device, comprising:

a 3D road surface information detection unit that, on a basis of images obtained from a plurality of cameras mounted on a vehicle, detects 3D road surface information including a three-dimensional structure of a road surface;
a storage unit that stores the 3D road surface information, which is acquired chronologically;
a coordinate conversion unit that converts 3D road surface information which is based on a position of the vehicle and an orientation of the camera at a first time (t−1) into 3D road surface information which is based on the position of the vehicle and the orientation of the camera at a second time (t), on a basis of a movement amount of the vehicle between the first time (t−1) and the second time (t), and an orientation of the camera at the second time (t);
and
a ranging unit that determines a distance to an object in a visual field region of one camera among the plurality of cameras on a basis of the converted 3D road surface information acquired at the first time (t−1) and the 3D road surface information acquired at the second time (t).

2 more elements

Dependencies are inferred from the claim text.

Image processing device

Life of this patent

Image processing device

Life of this patent

Abstract

Claims5