Positionserfassungsvorrichtung und Positionserfassungsverfahren

Details

Veröffentlichungs-Nr.

EP3633619

Aktenzeichen

EP19200414

Anmeldetag

30. September 2019

Veröffentlichung

24. Februar 2021

Erteilung

24. Februar 2021

Rechtsraum

EP

IPC

G06T7/593

Abstract

A parallax image (dp) in which a parallax is associated with each pixel is acquired from an image captured by a stereo camera (31). The parallax is voted to a two-dimensional matrix of the parallax and a pixel in a vertical direction in the parallax image (dp). A line is extracted from a coordinate system in which an X-axis indicates the parallax and a Y-axis indicates the pixel in the vertical direction. In the case where a first line (L1) and a second line (L2) are detected, an X-coordinate of the start point coordinates (x2, y2) of the second line (L2) is larger than an X-coordinate of end point coordinates (x1, y1) of the first line (L1), and the difference between the slope of the first line (L1) and the slope of the second line (L2) falls within a permissible range, a determination section (41) determines that a low position (R2; G) is present at a position farther from the movable body than a position in real space corresponding to a Y-coordinate of start point coordinates (Fig. 4).

Anmelder

Firma

KABUSHIKI KAISHA TOYOTA JIDOSHOKKI

Land

🇯🇵 Japan

Fachgebiete