US 12,073,631 B2
Object estimation device, object estimation method therefor, and vehicle
Hajime Oyama, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Oct. 15, 2021, as Appl. No. 17/502,807.
Claims priority of application No. 2020-176798 (JP), filed on Oct. 21, 2020.
Prior Publication US 2022/0121864 A1, Apr. 21, 2022
Int. Cl. G06V 20/58 (2022.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); G06F 18/21 (2023.01); G06T 7/73 (2017.01); G06V 10/22 (2022.01)
CPC G06V 20/58 (2022.01) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); G06F 18/21 (2023.01); G06T 7/73 (2017.01); G06V 10/22 (2022.01); B60W 2420/403 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/80 (2020.02); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01); G06V 2201/08 (2022.01)] 15 Claims
OG exemplary drawing
 
1. An object estimation device comprising:
an acquisition unit, mounted on a vehicle, configured to acquire a space image including an object present in a space around the vehicle; and
an estimation unit configured to:
estimate an image region including the object in the space image on a basis of a portion or all of the space image;
when a front or back of the object included in the image region faces the vehicle in a confronted posture, enclose the image region with an estimation frame such that all edges of the estimation frame are in contact with the image region; and
when the object included in the image region is in an oblique posture with respect the vehicle, enclose the image region with the estimate frame such that at least one of the edges of the estimation frame is not in contact with the image region.