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Object detection device

An object detection and object technology, which is applied in the directions of measuring devices, optical device exploration, optical observation devices, etc., can solve problems such as deviation, and achieve the effect of improving the accuracy of distance detection.

Inactive Publication Date: 2008-07-16
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In such an object detection device, variations may occur in parallax (equivalent to distance) due to changes over time, etc.

Method used

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Embodiment Construction

[0034] Hereinafter, an embodiment of the object detection device of the present invention will be described with reference to the drawings. As shown in FIG. 1 , the object detection device of this embodiment is mounted on a vehicle 1 . The object detection device includes: image acquisition units (camera units) 2R, 2L; millimeter wave sensor (millimeter wave radar: second detection unit) 3; The filter processes images obtained by the imaging units 2R, 2L or processes detection results of the millimeter wave sensor 3 . The imaging units 2R, 2L are a pair of CCD cameras (first detecting means: image ranging sensor: stereo camera) arranged at a constant interval in the lateral direction. The processing unit is an object detection ECU 4 that performs various calculations based on a pair of input images obtained by the CCD cameras 2R, 2L, and includes a CPU, GPU, ROM·RAM, and the like.

[0035] A pair of CCD cameras 2R, 2L are embedded on the back of an interior mirror in the cab...

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Abstract

The present invention provides a vehicle-mounted object detection device that detects a distance equivalent to an object (distance itself or parallax in a stereo camera, etc.). The object detection device is characterized in that it includes: a first detection unit (2R, 2L), to detect the equivalent distance to the object; the second detection unit (3), to detect the equivalent distance to the object with the detection principle different from the first detection unit (2R, 2L); the judgment unit (4 ), determine whether the first detection unit (2R, 2L) and the second detection unit (3) detect the same object; the determination unit (4), when it is determined to detect the same object, determine whether the second detection unit (3) ) is used to evaluate the detection error of the distance equivalent detected by the first detection unit (2R, 2L).

Description

technical field [0001] The present invention relates to a vehicle-mounted object detection device that detects a distance equivalent to an object (distance itself, parallax corresponding to the distance, etc.). Background technique [0002] An object detection device that detects a distance to an object using parallax based on a plurality of input images, that is, a pair of images commonly referred to as a stereoscopic image, is known. Document 1") also discloses the above object detection device. In such an object detection device, variations in parallax (distance equivalent) may occur due to changes over time or the like. In the object detection device described in Patent Document 1, a sampling pattern is captured by a stereo camera, and the parallax calculated by searching for corresponding points on the stereo image (points representing the same part on the right and left images of the stereo image) The parallax deviation of the stereo camera is corrected by comparing ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/06B60R1/00B60R21/00G01S13/86G01S13/93G01V8/10G08G1/16G01S13/931
CPCB60R2300/301B60R2300/8093B60W30/02B60W40/10G01S11/12G01S13/931G06T2207/10012G06T2207/10016G06T2207/10028G06T2207/30261G01S13/867G08G1/166G08G1/167G06T7/593G01S2013/9322G01S2013/9316G01S2013/93271G01S2013/932
Inventor 白石达也高城泰宏土田淳
Owner TOYOTA JIDOSHA KK
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