公开(公告)号：US20150356358A1

公开(公告)日：2015-12-10

申请号：US14760760

申请日：2013-12-17

Applicant: SHARP KABUSHIKI KAISHA

Inventor： Kazuhisa OKADA

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06K9/00805 ,  G01C3/085 ,  G06K9/00973 ,  G06K9/6202 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/30261 ,  G08G1/166

Abstract: By a disparity computation unit 21, first, with respect to a block in a bottom row of a first image, a corresponding block within a second image which has a same Y-coordinate as a Y-coordinate of the block and in which an object same as or similar to an object appearing in the block appears is searched for, and, next, in the case of searching for, with respect to a block which is upward in order from the searched block of the first image, a corresponding block within the second image in which an object same as or similar to that of the block appears, the corresponding block within the second image which has a same Y-coordinate as a Y-coordinate of the block of the first image and in which an object same as or similar to that of the block of the first image appears in an X-coordinate setting range with an X-coordinate of the corresponding block of the second image corresponding to the searched block which is immediately below the block of the first image as a center is searched for. Thus, provided is an obstacle detection device capable of simplifying processing for finding an obstacle, shortening a processing time and simplifying a hardware configuration.

Abstract translation: 通过视差计算单元21，首先，相对于第一图像的底行中的块，具有与块的Y坐标相同的Y坐标的第二图像内的对应块，并且其中对象 搜索与出现在块中的物体相同或类似的物体，并且接下来，在从第一图像的搜索块中按顺序搜索相对于向上的块的情况下， 其中出现与块相同或类似的对象的第二图像，第二图像内具有与第一图像的块的Y坐标相同的Y坐标的相应块，其中对象相同 与第一图像的块的图像类似或相似的图像出现在X坐标设置范围中，其中与搜索到的块对应的第二图像的对应块的X坐标位于第一图像的块的正下方，作为 中心被搜索。 因此，提供了能够简化用于寻找障碍物的处理，缩短处理时间并简化硬件配置的障碍物检测装置。

公开(公告)号：US20150348416A1

公开(公告)日：2015-12-03

申请号：US14759284

申请日：2014-01-15

Applicant: SHARP KABUSHIKI KAISHA

Inventor： Hideaki FUJITA ,  Kazuhisa OKADA ,  Takehide MATSUMOTO ,  Yuuki MATSUOKA

IPC: G08G1/16 ,  B60R1/00

CPC classification number: G08G1/16 ,  B60L3/0007 ,  B60L2200/24 ,  B60L2250/10 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/107 ,  B60R2300/301 ,  B60R2300/8093 ,  G06K9/00805 ,  G08G1/165

Abstract: An obstacle detection device (4A) which has cameras (12a, 12b) for detecting an obstacle, and notifies a user when the obstacle is detected by the cameras (12a, 12b). A reliability calculation unit (14) for calculating reliability of detection of the obstacle by the cameras (12a, 12b), a determination unit (15) for comparing the reliability which is calculated with a threshold and determining that the reliability has decreased when the reliability is less than or equal to the threshold, and a notification unit (20) for drawing attention of the user when the determination unit (15) determines that the reliability has decreased are provided therein.

Abstract translation: 一种具有用于检测障碍物的照相机（12a，12b）的障碍物检测装置（4A），并且当摄像机（12a，12b）检测出障碍物时通知用户。 一种用于计算由照相机（12a，12b）检测障碍物的可靠性的可靠性计算单元（14），确定单元（15），用于将可靠性与阈值进行比较，并确定可靠性在可靠性 小于或等于阈值，并且在确定单元（15）确定可靠性降低的情况下提供用户的注意的通知单元（20）。