CPC H04N 13/239 (2018.05) [G06T 7/593 (2017.01); G06V 10/25 (2022.01); G06V 10/751 (2022.01); G06V 20/56 (2022.01); G06V 20/64 (2022.01); G06T 2207/10012 (2013.01); G06T 2207/30252 (2013.01); G06V 2201/08 (2022.01)] | 19 Claims |
1. An image processing device comprising
one or more processors communicably connected to a stereo camera, the one or more processors being configured to:
receive a stereo image from the stereo camera;
set a three-dimensional object region by detecting a three-dimensional object, on a basis of a distance image that is to be generated on a basis of the stereo image and includes parallax-related values corresponding to parallaxes in respective pixels;
set, into the distance image, a first image region that is same as the three-dimensional object region in size and position, a second image region including a left end of the first image region and partly overlapping the first image region, and a third image region including a right end of the first image region and partly overlapping the first image region;
calculate, in each of the first image region, the second image region, and the third image region, representative values of the parallax-related values including (i) a first representative value based on first parallax-related values corresponding to a first pixel column that includes pixels having a first horizontal coordinate in the distance image, and (ii) a second representative value based on second parallax-related values corresponding to a second pixel column that includes pixels having a second horizontal coordinate different from the first horizontal coordinate in the distance image,
calculate a first approximate line in the first image region based on the representative values in the first image region, a second approximate line in the second image region based on the representative values in the second image region, and a third approximate line in the third image region based on the representative values in the third image region;
estimate a continuous structure degree indicating a degree of likeliness of the three-dimensional object being a continuous structure, on a basis of a first slope value of the first approximate line of the first image region, a second slope value of the second approximate line of the second image region, and a third slope value of the third approximate line of the third image region; and
determine whether the three-dimensional object detected by the detector is a vehicle, on a basis of the continuous structure degree.
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