US 12,260,581 B2
Distance calculation apparatus and vehicle position estimation apparatus
Yuichi Konishi, Wako (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Feb. 3, 2022, as Appl. No. 17/592,446.
Claims priority of application No. 2021-018762 (JP), filed on Feb. 9, 2021.
Prior Publication US 2022/0254056 A1, Aug. 11, 2022
Int. Cl. G06T 7/73 (2017.01); G06V 10/40 (2022.01); G06V 20/58 (2022.01)
CPC G06T 7/73 (2017.01) [G06V 10/40 (2022.01); G06V 20/58 (2022.01); G06T 2207/30252 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A distance calculation apparatus for calculating a distance from a subject vehicle to a predetermined object, comprising:
a camera configured to detect a situation around the subject vehicle; and
a microprocessor and a memory connected to the microprocessor, wherein
the microprocessor is configured to perform
recognizing objects on the basis of captured images acquired by the camera;
extracting feature points included in the captured images;
when the predetermined object is recognized on the basis of a captured image, calculating a centroid of feature points corresponding to the predetermined object among the feature points on the basis of a distribution of the feature points corresponding to the predetermined object; and
calculating a distance from the subject vehicle to the centroid as the distance from the subject vehicle to the predetermined object, and wherein
the camera is a monocular camera, and
the microprocessor is configured to perform
the calculating the distance including calculating the distance from the subject vehicle to the centroid on the basis of a plurality of the captured images acquired by the camera at different imaging time points and including the centroid within an angle of view.