US 12,249,164 B2
Training device, training method, storage medium, and object detection device
Yuji Yasui, Wako (JP); and Hideki Matsunaga, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 23, 2022, as Appl. No. 17/701,727.
Claims priority of application No. 2021-057102 (JP), filed on Mar. 30, 2021.
Prior Publication US 2022/0319198 A1, Oct. 6, 2022
Int. Cl. G06V 20/56 (2022.01); B60W 40/06 (2012.01); G06F 18/214 (2023.01); G06V 10/82 (2022.01)
CPC G06V 20/588 (2022.01) [B60W 40/06 (2013.01); G06F 18/214 (2023.01); B60W 2420/403 (2013.01); B60W 2552/20 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A training device comprising:
a storage device storing a program; and
a hardware processor,
wherein the hardware processor executes the program stored in the storage device to:
acquire a captured image of a road which is captured by a camera mounted on a mobile object;
estimate a pitching amount of the mobile object at each time of image capturing based on the captured image;
generate an actually captured image by performing first correction for canceling the pitching amount on the captured image;
add a computer graphic image of an object present on a road to the actually captured image based on the captured image;
generate a training image by performing second correction for undoing the first correction on the actually captured image to which the computer graphic image is added; and
train parameters of a model to output a type of the object when an image is input using the training image as training data and using a type of the added computer graphic image as teacher data.