US 12,223,743 B2
Road surface detection device, object detection device, object detection system, mobile object, and object detection method
Junya Kishimoto, Yokohama (JP); and Kenji Kono, Yokohama (JP)
Assigned to KYOCERA Corporation, Kyoto (JP)
Appl. No. 17/753,611
Filed by KYOCERA Corporation, Kyoto (JP)
PCT Filed Sep. 11, 2020, PCT No. PCT/JP2020/034586
§ 371(c)(1), (2) Date Mar. 9, 2022,
PCT Pub. No. WO2021/049649, PCT Pub. Date Mar. 18, 2021.
Claims priority of application No. 2019-166595 (JP), filed on Sep. 12, 2019.
Prior Publication US 2022/0327844 A1, Oct. 13, 2022
Int. Cl. G06V 20/56 (2022.01); B60W 40/06 (2012.01); G06T 7/593 (2017.01); G06T 7/70 (2017.01); H04N 13/00 (2018.01); H04N 13/128 (2018.01); H04N 13/239 (2018.01)
CPC G06V 20/588 (2022.01) [B60W 40/06 (2013.01); G06T 7/593 (2017.01); G06T 7/70 (2017.01); H04N 13/128 (2018.05); H04N 13/239 (2018.05); B60W 2420/403 (2013.01); B60W 2554/00 (2020.02); G06T 2207/10012 (2013.01); G06T 2207/30256 (2013.01); H04N 2013/0081 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A road surface detection device comprising:
a processor configured to:
acquire or generate a first disparity map, the first disparity map being:
generated based on an output of a stereo camera that captures an image including a road surface, and
a map in which a disparity obtained from the output of the stereo camera is associated with two-dimensional coordinates formed by a first direction corresponding to a horizontal direction of the image captured by the stereo camera and a second direction intersecting the first direction, and
using two straight lines, approximate a relationship between a coordinate of the road surface in the second direction and a disparity representing the road surface, the relationship being included in the first disparity map,
wherein the two straight lines include a first straight line and a second straight line,
the processor approximates a short-distance side in a real space with respect to a side on which the stereo camera is located using the first straight line and approximates a long-distance side farther than the first straight line using the second straight line,
the processor is configured to determine coordinates of an approximation start point in accordance with the first disparity map, the approximation start point being a point at which approximation using the second straight line is started on the long-distance side relative to the first straight line, and
the processor is configured to determine the coordinates of the approximation start point based on an error between the first straight line and the disparity representing the road surface.