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公开(公告)号：US10796167B2
公开(公告)日：2020-10-06
申请号：US15741807
申请日：2016-08-05
IPC分类号： G06K9/00 , G06T1/00 , G01C3/06 , G08G1/16 , G06T7/593 , G06T7/70 , G01C3/08 , G01C11/02 , G01C21/26 , G06K9/20
摘要： Provided is a periphery recognition device that makes it possible to: minimize the load from object recognition processing for recognizing an object moving between one region covered by a long-distance sensor and/or a wide-angle short-distance sensor to another such region; the periphery recognition device being able to reduce the proportion of non-recognition or erroneous recognition of objects moving from a region covered by the long-distance sensor or the wide-angle short-distance sensor to a boundary region. There is provided a first sensor 11a, a second sensor 11b, a long-distance object recognition unit 13 for recognizing an object present in a long-distance area on the basis of three-dimensional long-distance data calculated on the basis of situation data acquired using the first sensor 11a, a short-distance object recognition unit 14 for recognizing an object present in a wide-angle and short-distance area on the basis of three-dimensional wide-angle short-distance data calculated on the basis of situation data acquired using the second sensor 11b, and a feedback unit 15 for transferring information relating to the objects between the long-distance object recognition unit 13 and the short-distance object recognition unit 14.
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公开(公告)号：US10657670B2
公开(公告)日：2020-05-19
申请号：US16069784
申请日：2017-01-12
摘要： The present invention provides an information processing apparatus that is capable of suitably and efficiently monitoring both near and far regions, reducing the non-recognition rates of objects in both the near and far regions, and thus improving traveling safety, and that is suitably used as, for example, a periphery recognition apparatus mounted on a vehicle that accomplishes automatic driving. According to the present invention, an allocated resource changing unit allocates to a far object recognition unit a resource of which size is determined depending on the priority assigned thereto, even when the priority of a near object recognition process performed on a near region is higher than the priority of a far object recognition process performed on a far region.
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公开(公告)号：US11024051B2
公开(公告)日：2021-06-01
申请号：US16346029
申请日：2017-12-07
摘要： The purpose of the present invention is to provide an object detection device which is capable of accurately estimating the height of a road surface and is capable of reliably detecting an object present on the road surface. This object detection device 1 detects objects upon a road surface, and is equipped with: a stereo camera 110 for capturing images of the road surface 101a and the road shoulder 101b and generating image data; a three-dimensional data generation unit 210 for calculating disparity data for the pixels in the image data; a shoulder structure detection unit 310 for using the disparity data and/or the image data to detect shoulder structures; a structure ground-contact position derivation unit 410 for deriving the ground-contact position of a shoulder structure; a road surface position estimation unit 510 for estimating the height of the road surface 101a from the ground-contact position of the shoulder structure; and an object detection unit 610 for detecting an object 105 upon the road surface 101a by using the disparity data and the road surface height to separate disparity data corresponding to the road surface 101a and disparity data for the object.
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公开(公告)号：US11093763B2
公开(公告)日：2021-08-17
申请号：US16764959
申请日：2018-12-04
IPC分类号： H04N13/239 , G06K9/00 , G06T7/593 , G06T7/70 , H04N13/286 , B60Q9/00 , G06T5/00 , G06T7/20
摘要： The purpose of the present invention is to provide an onboard environment recognition device exhibiting high accuracy of measurement in a wider range of view fields. The present invention pertains to an onboard environment recognition device (1) that utilizes two cameras (100, 110) for sensing, wherein the onboard environment recognition device (1) is characterized in that: two camera view fields include a stereo-vision area and a monocular-vision area; and the device laterally searches for parallax images that are output results of the stereo-vision area, estimates a road surface distance in the stereo-vision area, and measures the distance of the monocular-vision area by using the estimated road surface distance after extending the same to the monocular-vision area in the lateral direction.
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公开(公告)号：US10509973B2
公开(公告)日：2019-12-17
申请号：US15574374
申请日：2016-07-01
IPC分类号： H04N13/254 , B60Q1/04 , B60R11/04 , H04N5/235 , G06K9/00 , H04N13/296 , B60R11/00
摘要： An onboard environment recognition device is obtained with which it is possible to improve recognition performance within the headlight illumination range and outside the headlight illumination range of a vehicle with an onboard camera. This onboard environment recognition device has: an imaging unit 100 for imaging, using a camera installed in the vehicle, at a wider-angle range than the headlight illumination range; an in-illumination/out-of-illumination exposure adjustment unit for setting appropriate exposure conditions separately within the headlight illumination range and outside the headlight illumination range; and a recognition unit 500 for recognizing images on the basis of the acquired images. Therefore, it is possible to maintain high recognition performance in the boundary regions of the headlight illumination range, and outside the range, and the present invention can also be used for wide-angle sensing at night.
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