US 12,354,292 B2
Object ranging apparatus, method, and computer readable medium
Yasunori Futatsugi, Tokyo (JP); and Yoshihiro Mishima, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 17/798,360
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Feb. 9, 2021, PCT No. PCT/JP2021/004788
§ 371(c)(1), (2) Date Aug. 9, 2022,
PCT Pub. No. WO2021/166742, PCT Pub. Date Aug. 26, 2021.
Claims priority of application No. 2020-026569 (JP), filed on Feb. 19, 2020.
Prior Publication US 2023/0075659 A1, Mar. 9, 2023
Int. Cl. G06T 7/55 (2017.01); B60W 60/00 (2020.01); G01C 3/08 (2006.01); G06T 7/521 (2017.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01)
CPC G06T 7/55 (2017.01) [G01C 3/085 (2013.01); G06T 7/521 (2017.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01); B60W 60/001 (2020.02); B60W 2420/403 (2013.01); B60W 2554/802 (2020.02); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01)] 13 Claims
OG exemplary drawing
 
1. An object ranging apparatus comprising:
at least one memory storing instructions; and
at least one processor configured to execute the instructions to:
recognize an object included in a captured image captured by a camera mounted on a vehicle;
estimate a first distance between the vehicle and the recognized object based on the captured image by using a first distance estimation method in which the first distance is estimated by estimating a depth of each part in the captured image by using a result learned by using deep learning;
estimate a second distance between the vehicle and the recognized object based on the captured image by using an estimation method in which the second distance is estimated based on motion parallax in a plurality of the captured images; and
the first distance the second distance by weighting and adding the first distance and the second distance with a weight corresponding to a steering wheel angle; and
output a result of the combination as a ranging result.