公开(公告)号：US20200082179A1

公开(公告)日：2020-03-12

申请号：US16682538

申请日：2019-11-13

Applicant: DENSO CORPORATION

Inventor： Maiko SUGIE ,  Yasuyuki ITO ,  Hiroyuki KITAGAWA ,  Satoru NOMURA ,  Tomoharu MURATE ,  Miyo HAMADA

IPC: G06K9/00 ,  B60R1/00 ,  G01C21/32 ,  G06T5/00

Abstract: A map points-of-change detection device includes: a camera capturing an image of an area around a vehicle; a bird's-eye-view transformation section transforming the image into a bird's-eye view image; a map storage portion storing a road map including a road surface map; a collation processing section determining whether a point of change in the road surface map exits, the point of change being a position at which a change has occurred on an actual road surface; and a collation region identification section that determines a region for collation in a width direction of the vehicle from the bird's-eye view image.