Patent
Object detection apparatus and object detection method
Masayuki Katoh,加藤 雅之 +1 more
- 08 Dec 2009
10
TL;DR: In this article, the locus approximation lines are derived for both the right and left edges of the detected object and the position of the selected edge is determined based on the estimated locus of the object.
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Abstract: Provided is an object detection apparatus that detects objects using radar and a monocular image sensor, and wherein the detecting precision of the lateral position of an object to be detected is further improved. A detected object corresponding to a detected object identified by the radar is extracted from among the images picked up by the monocular image sensor, and the right and left edges of the detected object are also obtained. Furthermore, locus approximation lines, which are straight lines or curved lines that approximate the locus of the right and left edges, are derived for both the edges. Then, of the right and left edges, the one that has more edges existing on the locus approximation line is selected as the true edge of the detected object, and the lateral position of the detected object is derived on the basis of the position of the selected edge.
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Citations
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Object detecting method and object detecting device
Tomoko Shimomura,倫子 下村 +1 more
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TL;DR: In this paper, a control unit CU for inputting image information and distance information from a camera 1 and a radar 2 and detecting objects performs object type determination processing for determining the type of an object on the basis of a distance to a detection target object and at least one of a direction vector of an edge calculated from image information, direction vector variance of the edge and edge strength and edge variance
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Patent
Object detecting device and distance measuring method
Kazumi Fujimoto,和巳 藤本 +1 more
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TL;DR: In this paper, the authors proposed an object detecting device for calculating a distance up to an object existing far away which is not directly measured from a radar receiving signal at high precision, which includes an inter-object relative position calculating part 30 for calculating relative position relationship between the object being a ranging object and a reference object making reference of ranging based on information on the image imaged by an on-vehicle camera 10.
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