Obstacle detection apparatus and method

A stereo camera inputs a first image and a second image each including a predetermined plane. An image conversion unit projects each pixel of the predetermined plane from the first image onto a corresponding pixel of the second image as a third image. A feature conversion unit respectively emphasize...

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Bibliographische Detailangaben
1. Verfasser:	TAKEDA NOBUYUKI
Format:	Patent
Sprache:	eng
Schlagworte:	ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING ORSUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES INGENERAL CALCULATING COMPUTING COUNTING ELECTRIC COMMUNICATION TECHNIQUE ELECTRICITY IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MEASURING MEASURING ANGLES MEASURING AREAS MEASURING IRREGULARITIES OF SURFACES OR CONTOURS MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS PERFORMING OPERATIONS PHYSICS PICTORIAL COMMUNICATION, e.g. TELEVISION SIGNALLING TESTING TRAFFIC CONTROL SYSTEMS TRANSPORTING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	A stereo camera inputs a first image and a second image each including a predetermined plane. An image conversion unit projects each pixel of the predetermined plane from the first image onto a corresponding pixel of the second image as a third image. A feature conversion unit respectively emphasizes edges included in the first image, the second image and third image. A similarity calculation unit sets a plurality of areas on the predetermined plane from the second feature conversion image, calculates a first similarity between each area of the second feature conversion image and a corresponding area of the first feature conversion image, and calculates a second similarity between each area of the second feature conversion image and a corresponding area of the third feature conversion image. An obstacle decision unit detects an obstacle based on the first similarity and the second similarity.