US 12,272,156 B2
Image processing apparatus, vehicle control apparatus, method, and program
Takuya Yamaguchi, Tokyo (JP)
Assigned to Sony Semiconductor Solutions Corporation, Kanagawa (JP)
Appl. No. 17/440,690
Filed by Sony Semiconductor Solutions Corporation, Kanagawa (JP)
PCT Filed Mar. 25, 2020, PCT No. PCT/JP2020/013471
§ 371(c)(1), (2) Date Sep. 17, 2021,
PCT Pub. No. WO2020/196676, PCT Pub. Date Oct. 1, 2020.
Claims priority of application No. 2019-057648 (JP), filed on Mar. 26, 2019.
Prior Publication US 2022/0172490 A1, Jun. 2, 2022
Int. Cl. G06V 20/58 (2022.01); B60W 30/06 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G01C 21/00 (2006.01); G06T 7/70 (2017.01); G06T 11/00 (2006.01)
CPC G06V 20/586 (2022.01) [B60W 50/14 (2013.01); B60W 60/001 (2020.02); G01C 21/3807 (2020.08); G01C 21/3837 (2020.08); G06T 7/70 (2017.01); G06T 11/00 (2013.01); B60W 30/06 (2013.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); G06T 2207/30264 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An image processing apparatus comprising:
a data processing section comprising a first processor and a first memory configured to receive an image captured by a camera comprising a temperature sensor that captures the image of surroundings of a vehicle and generate a two-dimensional map including objects in the surroundings of the vehicle, and
a vehicle control section comprising a second processor and a second memory engaged with the data processing section and configured to select a traveling route on which the vehicle does not contact the enlarged display object placed on the two-dimensional map and performs control to cause the vehicle to travel the traveling route,
wherein the data processing section determines a substantially circular dividing line between an inner region and an outer region, determines a height threshold associated with the substantially circular dividing line, receives a temperature of the camera from the temperature sensor, determines whether the temperature of the camera is within a predetermined temperature range, if the temperature of the camera is not within the predetermined temperature range, determines whether a height of at least one object in the outer region is greater than the height threshold, if the height of the at least one object is greater than the height threshold, sets a position reliability of the at least one object in the outer region to a low reliability, and generates the two-dimensional map including an enlarged display object having an enlarged region set thereto, the enlarged region which, in case of the object with low position reliability among the objects in the two-dimensional map, extends around the object.