Detection device, detection method, detection program, and recording medium

Abstract

Even if the distance between the imaging unit and the road surface changes due to changes in the weight of the moving object or changes in the air pressure of the wheels, calibration will be performed in accordance with these changes. [Solution] Based on the image captured by the imaging unit 210 regarding the stop line, which is a road surface feature having a known length along the direction of travel of the moving body MV, the movement amount detection unit 321A detects the amount of pixel movement. The identification unit 322A identifies the white line region in the captured image. Then, the calibration unit 323A, based on the amount of pixel movement and the identification result of the white line region in the captured image, as well as the known length of the stop line along the direction of travel of the moving body MV, determines that the moving body MV is traveling in a straight line at a constant speed on a flat road surface, and calibrates the distance on the road surface corresponding to one pixel, which is related to the distance between the imaging unit 210 and the road surface.

Claims

1. An acquisition unit that acquires multiple images including road surface features of known length, captured at predetermined time intervals along the direction of travel by an imaging unit mounted on a moving body; An output unit that calculates the number of image regions of a predetermined width corresponding to the known length based on a plurality of images acquired by the acquisition unit, and outputs distance information related to the distance on the road surface corresponding to the predetermined width based on the calculated number and the known length; A detection device characterized by comprising the following features.

2. The aforementioned feature on the road surface is a stop line. The output unit acquires information indicating that the vehicle is approaching an intersection and predicts in advance that it will pass the stop line. The detection device according to claim 1, characterized in that it is a detection device.

3. The imaging unit is First imaging unit and; The system comprises: a second imaging unit positioned at a predetermined distance from the first imaging unit, along the direction opposite to the direction of travel of the moving body; The output unit outputs the distance information based on a plurality of images captured by at least one of the first imaging unit and the second imaging unit at predetermined intervals. The detection device according to claim 1 or 2, characterized in that it is a detection device according to claim 1 or 2.

4. An acquisition unit that acquires multiple images including road surface features captured at predetermined time intervals along the direction of travel by an imaging unit mounted on a moving body; A first output unit that calibrates information indicating the distance on the road surface corresponding to the width of a predetermined image region in an image obtained based on a plurality of images acquired by the acquisition unit, based on distance information output in the past, and outputs the calibration result as new distance information; A second output unit that outputs the speed of the moving object using the new distance information; A detection device characterized by comprising the following features.

5. A detection method used in a detection device comprising an acquisition unit and an output unit, The acquisition process involves the acquisition of a plurality of images, each containing a road surface feature having a known length, which are captured at predetermined time intervals along the direction of travel by an imaging unit mounted on a moving body; The output unit performs a distance information output step which calculates the number of image regions of a predetermined width corresponding to the known length based on the plurality of images acquired in the acquisition step, and outputs distance information related to the distance on the road surface corresponding to the predetermined width based on the calculated number and the known length; A detection method characterized by comprising:

6. A detection program characterized by causing a computer in a detection device to execute the detection method described in claim 5.

7. A recording medium characterized in that the detection program described in claim 6 is recorded in a manner readable by a computer of the detection device.

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