| CPC G06T 5/80 (2024.01) [B60R 11/04 (2013.01); G06T 3/047 (2024.01); B60R 2011/004 (2013.01)] | 13 Claims |
|
1. A control device for a mobile object including a plurality of imaging devices including a first imaging device, a second imaging device, a third imaging device, and a fourth imaging device, the control device comprising at least one processor circuit and a memory storing instructions, that when executed by the processor circuit, cause the processor circuit to at least:
acquire an image of an external environment of the mobile object from the plurality of imaging devices;
set one or more regions included in images acquired from the plurality of imaging devices as a target of distortion reduction processing for reducing distortion of an image;
perform the distortion reduction processing on each of the one or more regions set as the target of the distortion reduction processing; and
recognize the external environment of the mobile object based on an image on which the distortion reduction processing has been performed,
wherein the one or more regions set as the target of the distortion reduction processing are periodically changed;
wherein the target of the distortion reduction processing at a first operation timing includes a first region that is an imaging region in a first direction with respect to the mobile object in an image acquired from the first imaging device and a second region that is an imaging region in the first direction in an image acquired from the second imaging device,
wherein the target of the distortion reduction processing at a second operation timing different from the first operation timing includes a third region that is an imaging region in a second direction different from the first direction in the image acquired from the first imaging device, a fourth region that is an imaging region in the second direction in an image acquired from the third imaging device, a fifth region that is an imaging region in a third direction different from the first direction and the second direction in the image acquired from the second imaging device, and a sixth region that is an imaging region in the third direction in an image acquired from the fourth imaging device,
the first imaging device, the second imaging device, the third imaging device, and the fourth imaging device are divided into two groups at the first operation timing, wherein each of two imaging devices in one group sets a region that is an imaging region in the first direction with respect to the mobile object as the target of the distortion reduction processing, and each of two imaging devices in the other group sets a region that is an imaging region in a fourth direction with respect to the mobile object as the target of the distortion reduction processing, and
the first imaging device, the second imaging device, the third imaging device, and the fourth imaging device are divided into two groups at the second operation timing, wherein the two groups at the second operation timing is different from the two groups at the first operation timing, and wherein each of two imaging devices in one group sets a region that is an imaging region in the second direction with respect to the mobile object as the target of the distortion reduction processing, and each of two imaging devices in the other group sets a region that is an imaging region in the third direction with respect to the mobile object as the target of the distortion reduction processing.
|