Diagnostic system, diagnostic method, and program

Abstract

A diagnostic system according to the present disclosure comprises: an acquisition means for acquiring an image that has been captured by a camera; a recognition means for recognizing a tree and a road from the image; a determination means for determining whether the tree overhangs toward the road in excess of a prescribed criterion; and a display control means for displaying, on a map, a point of the tree overhanging in excess of the prescribed criterion, on the basis of the result of the determination.

Description

Diagnostic system, diagnostic method, and recording medium

[0001] The present disclosure relates to diagnostic systems and the like.

[0002] Road administrators regularly inspect road conditions and take action if any abnormalities are found. To improve the efficiency of road condition inspections, cameras are installed on vehicles to capture images of roads. In addition, systems are known that perform image recognition on the captured images to detect abnormalities such as road surface deterioration.

[0003] As an image recognition-related technology, Patent Document 1 discloses a technology for extracting objects such as pedestrians and roadside trees around a vehicle based on images taken by a stereo camera capturing the surroundings outside the vehicle, and determining the type and attributes of the objects. Patent Document 2 discloses a technology for detecting the presence of obstacles on a lane by analyzing images provided by a vehicle.

[0004] JP 2022-040538 A JP 2015-064786 A

[0005] Road managers who manage trees along roads can sometimes find it difficult to understand the condition of the trees in their managed areas.

[0006] The present disclosure aims to provide a diagnostic system and the like that can easily identify trees that require treatment.

[0007] The diagnostic system according to the present disclosure includes an acquisition means for acquiring an image captured by a camera, a recognition means for recognizing trees and roads from the image, a determination means for determining whether the trees extend beyond a predetermined standard toward the road, and a display control means for displaying on a map the locations of the trees that extend beyond the predetermined standard based on the determination result.

[0008] The diagnostic method disclosed herein acquires an image captured by a camera, recognizes trees and roads from the image, determines whether the trees extend beyond a predetermined standard toward the road, and, based on the determination result, displays on a map the locations of the trees that extend beyond the predetermined standard.

[0009] A program according to the present disclosure causes a computer to execute a process of acquiring an image captured by a camera, recognizing trees and a road from the image, determining whether the trees extend beyond a predetermined standard toward the road, and displaying on a map points of the trees extending beyond the predetermined standard based on the determination result. The program may be stored in a computer-readable non-transitory recording medium.

[0010] The present disclosure can make it easier to identify trees that need treatment.

[0011] Fig. 1 is a diagram illustrating an example of a device connected to a diagnostic system according to the present disclosure. Fig. 2 is a block diagram illustrating an example configuration of a diagnostic system according to the present disclosure. Fig. 3 is a diagram illustrating an example of an image. Fig. 4 is a diagram illustrating an example of a screen. Fig. 5 is a diagram illustrating another example of a screen. Fig. 6 is a flowchart illustrating an example operation of a diagnostic system according to the present disclosure. Fig. 7 is a block diagram illustrating an example hardware configuration of a computer.

[0012] 1 is a diagram illustrating an example of a diagnostic system 100 according to the present disclosure and an example of a device communicatively connected to the diagnostic system 100 via a communication network 30 in a wired or wireless manner. The diagnostic system 100 is connected to, for example, a camera 10, a display 20, an image database 40, and a map database 41. However, the diagnostic system 100 may be connected to the camera 10 as needed. The image database 40 and the map database 41 may each be provided as needed.

[0013] The camera 10 is installed, for example, in a vehicle 11 and captures images. The type of vehicle 11 is not limited, and the camera 10 may be mounted, for example, on an automobile, a bicycle, a motorcycle, or the like. In FIG. 1 , the camera 10 is installed so as to capture an image of the road ahead of the vehicle 11. However, the orientation of the camera 10 is not limited thereto, and for example, the camera 10 may be installed so as to capture an image behind or to the side of the vehicle 11. The camera 10 may also capture moving images while the vehicle 11 is moving. The camera 10 is realized, for example, by a drive recorder. However, the type of the camera 10 is not limited thereto. Furthermore, multiple cameras 10 may be installed in one vehicle 11, and the number of cameras 10 installed is not limited thereto.

[0014] The images captured by the camera 10 are stored in the image database 40. The camera 10 may also transmit the images to the diagnostic system 100. The images may include location information of the location where the images were captured as additional information. The location information may include, for example, latitude and longitude, location information based on a Global Navigation Satellite System (GNSS), or a location on a map. The location information of the location where the images were captured may be saved or transmitted separately from the images. In this case, information indicating the capture conditions of the images may be managed in association with the images, for example, by the image ID or the date and time the images were captured.

[0015] The display 20 displays information to the user. The display 20 includes, for example, a display connected to a PC (Personal Computer) or a display provided on a tablet. The information displayed will be described later.

[0016] The image database 40 records the images captured by the camera 10 .

[0017] The map database 41 records map information for an area managed by a road administrator. Road administrators may manage roads in units divided by some criteria, such as by dividing a map into a predetermined range or by dividing a road into a predetermined length. The map database 41 may record the units by which the road administrator manages roads. The map database 41 may also record information regarding the type of road for each road. The road type may include, for example, whether the road is a small road, an ordinary road, or an ordinary road that is an important logistics road, but may be determined as appropriate. Furthermore, the map database 41 may record the type of trees growing at each point or the type of road signs at each point.

[0018] 2 is a block diagram showing an example configuration of a diagnostic system 100 according to the present disclosure. The diagnostic system 100 includes an acquisition unit 101, a recognition unit 102, a determination unit 103, and a display control unit 104.

[0019] The acquisition unit 101 acquires images captured by the camera 10. The images captured by the camera 10 include images of roads. The acquisition unit 101 typically acquires video images captured by a drive recorder. However, the images acquired by the acquisition unit 101 are not limited to this. FIG. 3 is a diagram showing an example of an image acquired by the acquisition unit 101. It is desirable that the image captures the environment along the road or the environment above the road. For example, the acquisition unit 101 acquires images stored in the image database 40. Note that the acquisition unit 101 acquires multiple images captured in a predetermined section. The predetermined section may be specified by the user.

[0020] The acquisition unit 101 may acquire three-dimensional data of the location where the image was captured. The image and the three-dimensional data of the location where the image was captured are managed in association with each other. The three-dimensional data can be generated from measurements of a laser scanner mounted on the vehicle 11. Alternatively, the three-dimensional data may be generated from multiple images with parallax using photogrammetry. If the camera 10 is a stereo camera, multiple images captured simultaneously are used. Alternatively, multiple images captured continuously while the vehicle 11 is moving may be used.

[0021] The recognition unit 102 recognizes trees and roads from the image acquired by the acquisition unit 101. At this time, the recognition unit 102 can recognize in which area of ​​the image the recognized road exists and in which area the recognized tree exists. This makes it possible to understand the positional relationship between the tree and the road. Furthermore, by recognizing the position of the road, the recognition unit 102 can recognize the position of a space where the presence of trees is not permitted, which is determined based on the position of the road. The recognition unit 102 may distinguish between a roadway and a sidewalk. This is because the height of the space where the presence of trees is not permitted may differ between above the roadway and above the sidewalk. Furthermore, the recognition unit 102 may distinguish between a sidewalk, a road shoulder, a median strip, etc. This is because the position of the space where the presence of trees is not permitted may differ depending on the position of these. If the width of the road is known, the recognition unit 102 may recognize the height above the road based on the width of the road.

[0022] The recognition unit 102 may recognize the tree trunk and branches and leaves separately from the image. In this case, the recognition unit 102 may recognize the inclination of the tree trunk. For example, the recognition unit 102 recognizes whether a virtual line passing through the center of the tree trunk is perpendicular to a horizontal line, whether the line is inclined, and how much the line is inclined toward the road. The horizontal line may be identified from the image, or may be identified based on the measurement results of a spirit level provided in the camera 10. The recognition unit 102 may also recognize the type of tree from the image.

[0023] The recognition unit 102 may further recognize other objects, such as road signs, utility poles, convex mirrors, signboards, traffic light curbs, and guardrails, from the image. In this case, the recognition unit 102 can recognize in which area of ​​the image the recognized object is located. This makes it possible to understand the positional relationship between trees and other objects. When recognizing road signs, the recognition unit 102 may also recognize the type of road sign.

[0024] The recognition unit 102 recognizes objects using any image recognition method. For example, the recognition unit 102 may recognize roads, trees, and other objects using a trained model based on machine learning.

[0025] The determination unit 103 determines whether the recognized tree exceeds a predetermined criterion regarding the tree condition. The predetermined criterion regarding the tree condition is a criterion for managing the tree so that it does not obstruct the safe passage of vehicles or pedestrians. The criterion may be set to be whether the tree exceeds a state requiring immediate action, or whether the tree exceeds a state predicted to require action in the future. The predetermined criterion regarding the tree condition includes a predetermined criterion regarding the tree's overhang toward the road. That is, the determination unit 103 determines whether the tree overhangs toward the road beyond the predetermined criterion. The predetermined criterion regarding the tree condition may further include one or both of a predetermined criterion regarding the inclination of the tree's trunk toward the road and a predetermined criterion regarding the tree's coverage of road signs. That is, the determination unit 103 may determine whether the tree's trunk is inclined toward the road beyond the predetermined criterion. The determination unit 103 may also determine whether the tree overhangs beyond the predetermined criterion regarding the coverage of road signs.

[0026] As an example, the determination unit 103 at least determines whether a tree overhangs the road side beyond a predetermined standard. However, the type of standard that the determination unit 103 applies to determine the state of the tree can be determined as appropriate. Various standards may be applied in combination. For example, the determination unit 103 may determine one or both of whether the trunk is leaning toward the road side beyond a predetermined standard and whether the tree overhangs beyond a predetermined standard for covering road signs, without determining whether the tree overhangs the road side beyond a predetermined standard.

[0027] For more precise determination, the determination unit 103 may use three-dimensional data of the location where the image was captured. The three-dimensional data allows the determination unit 103 to determine the height and width from the road to the tree and from other objects to the tree in more detail. Furthermore, the determination unit 103 can recognize the front-to-back relationship between the road sign and the tree based on the depth information.

[0028] The following describes predetermined criteria for tree overhang toward the road. The position used as the criterion for determining whether the predetermined criteria have been exceeded is determined based on the position of the road in the image. The criterion may be set at the boundary of a space where the presence of trees is not permitted. The criterion may also be set at a position a predetermined distance from the road than the space. The space where the presence of trees is not permitted may be determined by law or appropriately by a road administrator or other appropriate authority. The criterion may be the building limit above the road, as determined by law. For example, the building limit may be set at 4.5 meters above the roadway and 2.5 meters above the sidewalk. Trees that grow beyond the building limit must be immediately pruned. Furthermore, fallen trees above the building limit must be immediately removed. However, the criterion may also be a predetermined distance above or to the side of the road from the building limit. This allows road administrators to manage trees before they reach the building limit.

[0029] Next, we will explain the predetermined standard regarding the inclination of tree trunks toward the road. The angle that serves as the standard for determining whether the predetermined standard has been exceeded is determined according to the angle of the trunk of a tree that is at risk of falling toward the road. A tree with a leaning trunk may fall and obstruct traffic on the road. Therefore, road administrators take measures such as cutting down or reinforcing leaning trees. The angle that serves as the standard is set, for example, at an angle of 30 degrees toward the road from the vertical state.

[0030] Next, we will explain the criteria for tree coverage of road signs. The position that serves as the criterion for determining whether the predetermined criterion has been exceeded is determined according to the position of the road sign in the image. Furthermore, the position that serves as the criterion is determined according to whether the road sign is visible to pedestrians or drivers of vehicles.

[0031] The predetermined criterion regarding the coverage of road signs by trees may be a criterion for determining whether trees extend to a position that covers the road sign. For example, if there is an overlap between the area of ​​the road sign recognized by the recognition unit 102 and the area of ​​the tree, the determination unit 103 determines that the tree extends to a position that covers the road sign. The predetermined criterion may also be determined by the degree of coverage. The degree of coverage represents the degree of difficulty in seeing a road sign that is covered by trees or the like. For example, the degree of coverage may be expressed as the ratio of the area that is covered and cannot be seen to the area of ​​the road sign. In this case, the determination unit 103 determines whether the trees cover the road sign beyond a predetermined area.

[0032] Alternatively, the predetermined criterion regarding tree coverage of a road sign may be a criterion for determining whether a tree is overhanging a position that may potentially cover the road sign in the future. In this case, the determination criterion position is set at a predetermined position away from the road sign in the direction in which the tree grows. For example, the determination criterion position is set at a position 10 centimeters away from the outline of the road sign's signboard. In making the determination, the determination unit 103 may refer to the front-to-back positional relationship and the distance between the tree and the road sign in the image. A tree located farther back from the road sign as viewed from the camera 10 does not cover the road sign. However, if a tree grows in front of the road sign, there is a possibility that the road sign will be covered. Therefore, the determination criterion position may be determined according to the depth direction from the camera 10 to the road sign. For example, the determination criterion position is set at a position 10 centimeters away from the back of the signboard.

[0033] The predetermined criteria described above may be determined as appropriate. For example, the predetermined criteria may be determined depending on whether the road type is a small road, an ordinary road, or an ordinary road that is an important logistics road. The predetermined criteria regarding the protrusion into the road side may be determined based on whether the road is used by large vehicles. For roads used by large vehicles such as trucks, the position that serves as the determination criterion for the protrusion into the road side is set at a higher position from the road than for other roads.

[0034] The predetermined criteria for the condition of the trees described above may also be determined based on traffic volume. Roads with heavy traffic volume are subject to a greater impact from trees obstructing safe passage, so it is desirable to eliminate the risk early. Therefore, the position of the criteria for the overhang toward the road or road sign is set at a position that is a predetermined distance away from the road or road sign compared to other roads. Furthermore, the angle of the criteria for the inclination of the trunk toward the road is set at a smaller angle compared to other roads.

[0035] The predetermined criteria for the condition of a tree may also be determined depending on the type of tree. The growth rate and tendency for lateral growth may differ depending on the type of tree. The tendency for a tree to grow may be estimated based on its past growth history. For trees that grow quickly and trees that tend to grow laterally, the position of the criterion for overhang is determined to be a predetermined distance away from the road or road sign. Furthermore, the tendency for a tree to lean may differ depending on the type of tree. Therefore, for trees that tend to lean, the angle of the criterion for the inclination of the trunk toward the road is set to a smaller angle. The determination unit 103 refers to the types of trees that are managed in advance for each location or the types of trees recognized from the image, and makes a determination based on the criteria determined for each type.

[0036] Furthermore, the predetermined criteria for the tree condition may be set according to the season. In the season when trees grow, the position of the criterion for determining the tree overhang is set at a position a predetermined distance away from the road or road sign. In the rainy season, the ground becomes loose and the possibility of trees falling increases, so the angle of the criterion for determining the trunk inclination is set to a smaller angle.

[0037] At least any one of the predetermined criteria, i.e., the criteria regarding the projection toward the road, the criteria regarding the inclination of the trunk toward the road, and the criteria regarding the coverage of road signs, may include multiple criteria. That is, each of the predetermined criteria regarding the condition of the tree may include multiple criteria. In this case, the determination unit 103 determines whether the tree satisfies each of the multiple criteria. The number of multiple criteria is not particularly limited, but, for example, two to five criteria may be defined. If the accuracy of the position recognized by the recognition unit 102 is high or if the determination unit 103 can make a precise determination using three-dimensional data, more criteria may be defined.

[0038] When the predetermined criteria for the overhang of a tree onto a road include multiple criteria, the multiple criteria include whether the tree exceeds a first position and whether the tree exceeds a second position that is farther from the road than the first position. If the tree exceeds the first position, there is a higher risk of obstructing safe passage than if the tree exceeds the second position. For example, the first position is a construction limit on the road, and the second position is a position that is a predetermined distance away from the road beyond the construction limit.

[0039] When the predetermined standard for the inclination of the trunk toward the road includes multiple standards, the multiple standards include whether the trunk exceeds a first angle and whether the trunk exceeds a second angle that is smaller than the first angle. When the trunk exceeds the first angle, there is a higher risk of the trunk impeding safe passage due to a fallen tree than when the trunk exceeds only the second angle.

[0040] When the criteria for tree coverage of road signs include multiple criteria, the multiple criteria may include whether the trees exceed a first position and whether they exceed a second position that is farther from the road sign than the first position. If the trees exceed the first position, there is a higher risk of obstructing safe passage due to reduced visibility of the road sign than if the trees exceed the second position. Alternatively, the multiple criteria may include whether the trees exceed a first coverage level and whether they exceed a second coverage level that is lower than the first coverage level.

[0041] It is assumed that trees grow over time, and that the inclination of trees increases over time. By including multiple criteria in the predetermined criteria, the determination unit 103 can determine risks that change over time.

[0042] The display control unit 104 displays on the map points where the condition of the trees exceeds a predetermined standard based on the determination result of the determination unit 103. For example, the display control unit 104 displays on the display 20 a map recorded in the map database 41. Then, the display control unit 104 superimposes the tree points on the map. The tree points are identified, for example, based on location information of the points where the images were captured. The display control unit 104 may indicate a single point or a predetermined range as the tree points. When the display control unit 104 displays a narrow-area map, it may indicate a single point, and when the display control unit 104 displays a wide-area map, it may indicate a predetermined range. Furthermore, the display control unit 104 may indicate a location along a road as the tree point, or may indicate the location of a road where a tree may obstruct passage. The tree points may be indicated in units of a map divided into predetermined ranges or roads divided into predetermined lengths.

[0043] As an example, the display control unit 104 may display on the map points where trees protrude into the road beyond a predetermined standard. The display control unit 104 may also display on the map points where tree trunks lean toward the road beyond a predetermined standard. The display control unit 104 may also display on the map points where trees protrude beyond a predetermined standard regarding coverage of road signs.

[0044] The display control unit 104 may display at least two or more types of points, determined to be points where trees protrude into the road beyond a predetermined standard, points where trees lean into the road beyond a predetermined standard, and points where trees protrude beyond a predetermined standard for covering road signs, on the same map. Alternatively, the display control unit 104 may display the at least two or more types of points on separate maps.

[0045] When multiple trees whose tree conditions exceed a predetermined standard are located close to each other, the display control unit 104 may display the locations of the multiple trees using a single graphic. The display control unit 104 may change the color of the location depending on the number of trees whose tree conditions exceed the predetermined standard. For example, a location with many trees overhanging the road, a location with many leaning trees, or a location with many obscured road signs may be displayed in a color that stands out more than other locations. The display control unit 104 may display a heat map depending on the number of trees that exceed the predetermined standard.

[0046] The display control unit 104 may display selected tree points from at least two or more types of points: points where the determined trees protrude toward the road beyond a predetermined standard, points where the trees lean toward the road beyond a predetermined standard, and points where the trees protrude beyond a predetermined standard for covering road signs. The type of tree point that the display control unit 104 displays may be determined as appropriate. The type of point to be displayed may be selected by the user.

[0047] When the predetermined criteria regarding the condition of trees include multiple criteria, the display control unit 104 may display the location of trees that exceed a selected criterion from the multiple criteria. The criterion may be selected according to the traffic volume on the road on which the trees grow. For roads with heavy traffic, a criterion indicating a lower risk state may be selected. Furthermore, the criterion regarding the overhang of trees toward the road side may be selected according to the size of vehicles traveling on the road. For roads on which large vehicles travel, a criterion indicating a higher position from the road compared to other roads is selected. Furthermore, the criterion regarding the coverage of road signs may be selected according to the type of road sign. Priorities may be assigned to road signs of different types. Therefore, a criterion indicating a lower risk state is selected for trees that cover road signs of a higher priority type. The criterion may be selected by the user.

[0048] FIG. 4 is a diagram showing an example of a screen displayed by the display control unit 104. The screen in FIG. 4 shows, with ellipses, the locations of trees whose condition has been determined to exceed a predetermined standard. In FIG. 4, the multiple standards are expressed by the level of risk of obstructing safe passage. The locations of trees that exceed a selected standard among the multiple standards are then displayed. In FIG. 4, the multiple standards are selected using radio buttons. However, the multiple standards may also be selected by specifying a position on a slider bar.

[0049] When the predetermined criteria regarding the condition of a tree include multiple criteria, the display control unit 104 may display the location of the tree in different ways depending on which of the multiple criteria the tree has exceeded. For example, when the location of the tree is represented by an icon, the display control unit 104 may display the icon in a different color, shape, or size for each criterion. The display control unit 104 may also display a heat map in which the color of the location is different for each criterion. By displaying the locations in different ways for each criterion, the display control unit 104 can represent the degree of projection toward the road, the inclination of the tree, and the degree of projection toward the road sign in multiple stages.

[0050] The display control unit 104 may display at least two or more types of points, determined to be points where trees overhang the road beyond a predetermined standard, points where trees lean toward the road beyond a predetermined standard, and points where trees overhang beyond a predetermined standard for covering road signs, in different ways on the map. For example, the display control unit 104 may display each type of point with an icon of a different color or shape. Depending on the type of tree condition, the response to the tree may differ. For example, a road administrator may prune overhanging trees and cut down leaning trees. By displaying each type of point differently, the display control unit 104 can assist the road administrator in appropriately determining the necessary response.

[0051] Furthermore, the display control unit 104 may display at least one of the two or more types of points as an icon and at least one as a heat map. For example, the display control unit 104 may display the points of trees covering road signs as icons, and display the points of trees overhanging the road and the points of trees leaning toward the road on a heat map. This is because, while the position of a road sign can be identified by a single point, the overhang of trees over the road and the leaning of trees may occur over a certain range. Note that the points of trees leaning toward the road may be displayed as icons.

[0052] Fig. 5 is a diagram showing another example of a screen displayed by the display control unit 104. The screen in Fig. 5 displays points of trees overhanging the road and points of trees obscuring road signs that are selected from the determined points. Points where trees are leaning are not selected and are not displayed. The screen in Fig. 5 displays points of trees overhanging the road in a heat map. In addition, points of trees obscuring road signs are displayed as icons.

[0053] In response to the selection of a point on the map, the display control unit 104 may display an image of the point. The display control unit 104 may highlight trees exceeding a predetermined standard in the image. The display control unit 104 may also highlight road signs that are covered or may be covered by trees in the image. For example, the display control unit 104 may display the trees or road signs by enclosing them in a frame. The display control unit 104 may display, together with the image, the distance from the road to the trees, the inclination of the trees, the degree of coverage of the road sign, the distance from the road sign to the trees and road signs, and the type of road sign.

[0054] It should be noted that various display methods can be combined as appropriate.

[0055] 6 is a flowchart illustrating an example of the operation of the diagnostic system 100 according to the present disclosure. The diagnostic system 100 may start the process of FIG. 6 in response to a user operation. Alternatively, the diagnostic system 100 may start the process of FIG. 6 at a predetermined timing, such as once a day.

[0056] The acquisition unit 101 acquires an image captured by the camera 10 (step S1). Next, the recognition unit 102 recognizes trees and roads from the image acquired by the acquisition unit 101 (step S2). In step S2, the recognition unit 102 may further recognize other objects. The recognition unit 102 may repeat step S2 for multiple images acquired by the acquisition unit 101.

[0057] Thereafter, the determination unit 103 determines whether the recognized tree overhangs the road side beyond a predetermined standard (step S3). In step S3, the determination unit 103 may further determine the state of the tree, including whether the tree leans toward the road side beyond a predetermined standard or whether the tree overhangs beyond a predetermined standard for covering a road sign. The determination unit 103 may repeat step S3 for multiple trees recognized from the image.

[0058] Based on the determination result in step S3, the display control unit 104 displays on the map the points of trees whose condition exceeds a predetermined standard (step S4). For example, in step S4, the display control unit 104 displays on the map the points where trees overhang the road, the points where trees lean toward the road, and the points where trees cover road signs.

[0059] With the above, the diagnostic system 100 ends the operation shown in FIG.

[0060] According to one embodiment, the determination unit 103 determines whether a tree recognized from an image overhangs the road side beyond a predetermined standard, leans toward the road side beyond a predetermined standard, or overhangs beyond a predetermined standard for covering road signs. The display control unit 104 then displays on a map the points of trees overhanging the road side beyond the predetermined standard, the points of trees leaning beyond the predetermined standard, or the points of trees overhanging beyond the predetermined standard for covering road signs. Thus, the diagnostic system 100 notifies the road administrator of the existence and locations of trees overhanging or leaning beyond the predetermined standard. Thus, the diagnostic system 100 can facilitate the road administrator's identification of trees that require treatment.

[0061] According to one embodiment, the acquisition unit 101 acquires images captured by the camera 10 mounted on the vehicle 11. Therefore, the state of trees within the range in which the vehicle 11 can travel can be efficiently managed.

[0062] If trees along roads are not properly managed, there is a risk of accidents occurring. If an accident occurs, the road administrator may be held liable for management defects. The diagnostic system 100 can assist the road administrator in proper management, and is therefore useful for preventing accidents.

[0063] [Hardware Configuration] In each of the above-described embodiments, each component of the diagnostic system 100 represents a functional block. Some or all of the components of the diagnostic system 100 may be realized by any combination of a computer 500 and a program.

[0064] Fig. 7 is a block diagram showing an example of the hardware configuration of a computer 500. Referring to Fig. 7, the computer 500 includes, for example, a processor 501, a read only memory (ROM) 502, a random access memory (RAM) 503, a program 504, a storage device 505, a drive device 507, a communication interface 508, an input device 509, an input / output interface 511, and a bus 512.

[0065] The processor 501 controls the entire computer 500. The processor 501 may be, for example, a CPU (Central Processing Unit). The number of processors 501 is not particularly limited, and there may be one or more processors 501.

[0066] The program 504 includes instructions for implementing each function of the diagnostic system 100. The program 504 is stored in advance in the ROM 502, RAM 503, or storage device 505. The processor 501 implements each function of the diagnostic system 100 by executing the instructions included in the program 504. The RAM 503 may also store data to be processed in each function of the diagnostic system 100.

[0067] The drive device 507 reads and writes data from and to the recording medium 506. The communication interface 508 provides an interface with a communication network. The input device 509 is, for example, a mouse or a keyboard, and receives information input from road administrators, etc. The output device 510 is, for example, a display, and outputs (displays) information to road administrators, etc. The input / output interface 511 provides an interface with peripheral devices. The bus 512 connects these hardware components. The program 504 may be supplied to the processor 501 via a communication network, or may be stored in advance on the recording medium 506, read by the drive device 507, and supplied to the processor 501.

[0068] It should be noted that the hardware configuration shown in FIG. 7 is an example, and other components may be added, or some components may not be included.

[0069] There are various variations in the method of realizing the diagnostic system 100. For example, the diagnostic system 100 may be realized by any combination of a different computer and a program for each component. Furthermore, multiple components included in the diagnostic system 100 may be realized by any combination of a single computer and a program.

[0070] Furthermore, at least a part of the diagnostic system 100 may be provided in a software as a service (SaaS) format. That is, at least a part of the functions for realizing the diagnostic system 100 may be executed by software executed via a network.

[0071] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, the configurations in the respective embodiments can be combined with each other without departing from the scope of the present disclosure.

[0072] Some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes.

[0073] [Supplementary Note 1] A diagnostic system comprising: an acquisition means for acquiring an image captured by a camera; a recognition means for recognizing trees and roads from the image; a determination means for determining whether the trees extend beyond a predetermined standard toward the road; and a display control means for displaying on a map the locations of the trees that extend beyond the predetermined standard toward the road based on the determination result.

[0074] [Supplementary Note 2] The diagnostic system according to Supplementary Note 1, wherein the predetermined criteria include a plurality of criteria, and the determining means determines whether the tree overhangs beyond each of the plurality of criteria.

[0075] [Appendix 3] The diagnostic system described in Appendix 2, wherein the plurality of criteria include a criterion as to whether the tree overhangs the building limit on the road, and a criterion as to whether the tree overhangs beyond a position that is a predetermined distance away from the road beyond the building limit.

[0076] [Supplementary Note 4] The diagnostic system according to Supplementary Note 2 or 3, wherein the display control means displays the location in a different manner depending on which of the plurality of criteria has been exceeded based on the determination result.

[0077] [Appendix 5] The diagnostic system described in any one of Appendices 1 to 4, wherein the determination means determines whether the trunk of the tree is leaning toward the road beyond a predetermined standard, and the display control means, based on the determination result, displays on the map the point of the tree where the trunk is leaning toward the road beyond the predetermined standard.

[0078] [Supplementary Note 6] The diagnostic system described in any one of Supplementary Notes 1 to 5, wherein the recognition means recognizes road signs from the image, the determination means determines whether the trees extend beyond a predetermined standard regarding coverage of the road sign, and the display control means displays, based on the determination result, points of the trees that extend beyond the predetermined standard regarding coverage of the road sign on the map.

[0079] [Supplementary Note 7] The diagnostic system described in Supplementary Note 5 or 6, wherein the display control means displays selected points on the map from at least two or more types of points determined to be points where the tree extends toward the road beyond the predetermined standard, points where the tree leans toward the road beyond the predetermined standard, and points where the tree extends beyond the predetermined standard for covering the road sign.

[0080] [Appendix 8] The diagnostic system described in any one of Appendices 5 to 7, wherein the display control means displays on the map at least two or more types of points, namely, points where the determined trees extend onto the road beyond the predetermined standard, points where the trees lean toward the road beyond the predetermined standard, and points where the trees extend beyond the predetermined standard for covering the road sign, in different manners.

[0081] [Appendix 9] A diagnostic method comprising: acquiring an image captured by a camera; recognizing trees and a road from the image; determining whether the trees extend beyond a predetermined standard toward the road; and, based on the determination result, displaying on a map the points of the trees that extend beyond the predetermined standard.

[0082] [Supplementary Note 10] A recording medium that non-temporarily records a program that causes a computer to execute the following processes: acquiring an image captured by a camera; recognizing trees and a road from the image; determining whether the trees extend beyond a predetermined standard toward the road; and, based on the determination result, displaying on a map the locations of the trees that extend beyond the predetermined standard.

[0083] REFERENCE SIGNS LIST 100 Diagnostic system 101 Acquisition unit 102 Recognition unit 103 Determination unit 104 Display control unit 10 Camera 11 Vehicle 20 Display 30 Communication network 40 Image database 41 Map database

Claims

1. an acquisition means for acquiring an image captured by the camera; a recognition means for recognizing trees and roads from the image; a determining means for determining whether the tree is projecting beyond a predetermined standard toward the road; a display control means for displaying on a map the points of the trees that protrude beyond the predetermined standard toward the road based on the determination result; A diagnostic system comprising:

2. the predetermined criteria include a plurality of criteria; The determining means determines whether the tree overhangs beyond each of the plurality of criteria. The diagnostic system of claim 1 .

3. The plurality of criteria include a criterion as to whether the tree overhangs the construction gauge on the road, and a criterion as to whether the tree overhangs beyond a position that is a predetermined distance away from the road beyond the construction gauge. The diagnostic system of claim 2 .

4. The display control means displays the location in a different manner depending on which of the plurality of criteria is exceeded based on the determination result. The diagnostic system according to claim 2 or 3.

5. the determining means determines whether the trunk of the tree is leaning toward the road beyond a predetermined standard, The display control means displays, on the map, points of the trees whose trunks are leaning toward the road beyond the predetermined standard based on the determination result. The diagnostic system of claim 1 .

6. the recognition means recognizes a road sign from the image, the determining means determines whether the tree overhangs the road sign beyond a predetermined standard for covering the road sign; The display control means displays, on the map, points of the trees that protrude beyond the predetermined standard regarding coverage of the road sign based on the determination result. The diagnostic system of claim 1 .

7. The display control means displays on the map selected points from at least two or more types of points, namely, points where the determined trees overhang the road side beyond the predetermined standard, points where the trees lean toward the road side beyond the predetermined standard, and points where the trees overhang the road side beyond the predetermined standard for covering the road sign. The diagnostic system according to claim 5 or 6.

8. The display control means displays at least two or more types of points, i.e., points where the determined trees overhang the road beyond the predetermined standard, points where the trees lean toward the road beyond the predetermined standard, and points where the trees overhang beyond the predetermined standard for covering the road sign, in different modes on the map. The diagnostic system according to claim 5 or 6.

9. The camera captures the image, Recognizing trees and roads from the image; determining whether the tree overhangs the road side beyond a predetermined standard; Based on the determination result, the points of the trees that protrude beyond the predetermined standard are displayed on a map. Diagnostic methods.

10. The camera captures the image, Recognizing trees and roads from the image; determining whether the tree overhangs the road side beyond a predetermined standard; Based on the determination result, the points of the trees that protrude beyond the predetermined standard are displayed on a map. A program that causes a computer to perform a process.