Information processing device, information processing method, imaging device, computer program, information processing system, and mobile apparatus
A technology for information processing equipment and information volume, which is applied in computer parts, computing, collision avoidance systems, etc.
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Embodiment 1
[0138] Figure 8 Schematically illustrates a functional configuration of an object detection system 800 configured to restrict the transmission from the camera 201 to the ECU by determining the position and size of the ROI using detection results of outside world recognition sensors other than the camera 201. amount of information. However, with figure 2 The same components of the object detection system 200 illustrated in FIG. 2 are denoted by the same reference numerals, and a detailed description thereof will be omitted below.
[0139] The radar signal processing unit 204 performs signal processing on the original waveform data of the radar wave emitted by the millimeter wave radar 202 and the received signal of the reflected wave of the radar wave emitted by the millimeter wave radar 202 to measure the distance, direction, size and speed. Next, the object detection unit 205 detects the position, velocity, and size of each object based on the signal processing result of...
Embodiment 2
[0161]In a case where the imaging condition of the camera 201 is good, the determination threshold of the object detection unit 205 is lowered. When the determination threshold is lowered, the object detection unit 205 detects an object with a low possibility as an object, so that the number of times of detection increases. As a result, more objects are detected based on the detection result of the millimeter wave radar 202 and include false detections, but the object detection unit 203 can detect more objects based on the captured image of the camera 201 and remove false detections.
[0162] On the other hand, in a case where the imaging condition of the camera 201 is not good, it becomes difficult for the object detection unit 203 to compensate for the detection accuracy, so the determination threshold of the object detection unit 205 increases. When the determination threshold is increased, the object detection unit 205 detects only objects with a high possibility as object...
Embodiment 3
[0171] The millimeter wave radar 202 is based on the principle of detecting objects based on reflected waves of radiated radio waves. Therefore, there is a tendency that the intensity of waves reflected from vehicles including large metal bodies is strong, but the intensity of waves reflected from small vehicles such as Metal objects reflect even weaker waves. Therefore, the size of the ROI cut out from the captured image of the camera 201 can be determined based on the intensity of the detection signal in the millimeter wave radar 202 . By judging an appropriate ROI size, images can be losslessly cut out from captured images and transferred without loss of parts in objects, and useless image parts can be prevented from even being cut out, making the data transfer amount and processing amount unnecessary Increase.
[0172] Figure 11 A functional configuration of the object detection system 1100 including a mechanism for determining the size of the ROI is schematically illu...
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