公开(公告)号：EP2608149A1

公开(公告)日：2013-06-26

申请号：EP11818055.3

申请日：2011-07-29

申请人： Nissan Motor Co., Ltd

发明人： TSUCHIYA, Chikao ,  FURUSHOU, Hiroyuki ,  TANAKA, Shinya ,  HAYAKAWA, Yasuhisa

IPC分类号： G06T7/00 ,  B60R1/00 ,  G06T1/00 ,  H04N7/18

CPC分类号： H04N13/204 ,  G06K9/00201 ,  G06K9/00805 ,  G06K9/4604 ,  G06T3/00 ,  G06T7/12 ,  G06T2207/30261

摘要： A three-dimensional object detection device 1 includes a camera 10 and a calculator 20. The calculator 20 performs viewpoint conversion processing on an image captured by the camera 10 to create a bird's eye view image, calculates, for each of a plurality of positions along a vertical imaginary line extending in a vertical direction in an actual space, a luminance difference between two pixels near the position, and detects a three-dimensional object on the basis of continuities of the calculated luminance differences of the respective positions.

摘要翻译： 一种三维物体检测装置1包括摄像机10和计算器20通过摄像头10拍摄到的图像上的计算器20个执行视点变换处理沿创建的鸟瞰图图像，来计算针对每个位置的多个 的垂直假想线在实际空间中，位置附近的两个像素之间的亮度差在垂直方向上延伸，并且检测的respectivement位置的计算出的亮度差的连续性的基础上的三维对象。

公开(公告)号：EP2680247B1

公开(公告)日：2018-12-26

申请号：EP12750202.9

申请日：2012-02-17

申请人： NISSAN MOTOR CO., LTD.

发明人： TSUCHIYA, Chikao ,  HAYAKAWA, Yasuhisa ,  TANAKA, Shinya ,  FURUSHOU, Hiroyuki ,  FUKATA, Osamu

IPC分类号： G06K9/00 ,  G06K9/50

CPC分类号： G06K9/00791 ,  G06K9/00805 ,  G06K9/50 ,  G06T7/246 ,  G06T2207/30252 ,  G08G1/167

摘要： A periodic stationary object detection system extracts a feature point of a three-dimensional object from image data on a predetermined region of a bird's eye view image for each of multiple sub regions included in the predetermined region, calculates waveform data corresponding to a distribution of the feature points in the predetermined region on the bird's eye view image, and judges whether or not the three-dimensional object having the extracted feature point is a periodic stationary object candidate on the basis of whether or not peak information of the waveform data is equal to or larger than a predetermined threshold value.

公开(公告)号：EP2680247A1

公开(公告)日：2014-01-01

申请号：EP12750202.9

申请日：2012-02-17

申请人： Nissan Motor Co., Ltd

发明人： TSUCHIYA, Chikao ,  HAYAKAWA, Yasuhisa ,  TANAKA, Shinya ,  FURUSHOU, Hiroyuki ,  FUKATA, Osamu

IPC分类号： G08G1/16 ,  B60R1/00 ,  G06T7/00

CPC分类号： G06K9/00791 ,  G06K9/00805 ,  G06K9/50 ,  G06T7/246 ,  G06T2207/30252 ,  G08G1/167

摘要： A periodic stationary object detection system extracts a feature point of a three-dimensional object from image data on a predetermined region of a bird's eye view image for each of multiple sub regions included in the predetermined region, calculates waveform data corresponding to a distribution of the feature points in the predetermined region on the bird's eye view image, and judges whether or not the three-dimensional object having the extracted feature point is a periodic stationary object candidate on the basis of whether or not peak information of the waveform data is equal to or larger than a predetermined threshold value.

摘要翻译： 周期性静止物体检测系统提取从图像数据上的鸟的每个的多个子区域的俯瞰图像的预定区域的三维对象的包含在所述预定区域的特征点，计算波形数据对应的分配 在鸟瞰图像上的预定区域的特征点，并判断具有所提取的特征点的三维物体是否是的波形数据的是否峰值信息的基础上周期性静止物体候选是等于 或大于预定的阈值大。