| CPC G06T 7/20 (2013.01) [G06T 7/70 (2017.01); G06T 2207/10032 (2013.01); G06T 2207/30264 (2013.01)] | 4 Claims |
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1. A feature detection device comprising:
a processor configured to:
determine whether a vehicle is parked, based on at least one of the speed, steering angle, and shifter position of the vehicle,
detect one or more predetermined features from a first image representing a first area around the vehicle in a section of road in which the vehicle is traveling, the first image being generated by a first camera provided on the vehicle,
detect the one or more predetermined features from a second image representing a second area closer to the vehicle than the first area in a section of road in which the vehicle is parked, the second image being generated by a second camera provided on the vehicle;
execute viewpoint transformation on the second image to generate an aerial image, and detect the one or more predetermined features from the generated aerial image;
estimate a positional relationship between the vehicle and a first feature among the one or more predetermined features, based on the position of the first feature in each of two or more of the first images acquired at different timings during travel of the vehicle and the distance traveled by the vehicle between the timings of acquisition of the two or more of the first images,
estimate a real-space position of the first feature, based on the estimated positional relationship,
identify the position of the first feature in the aerial image, based on the positional relationship between the vehicle and the first feature, and
estimate a real-space position of a second feature detected from the aerial image among the one or more predetermined features, based on a positional relationship between the positions of the first feature and the second feature in the aerial image as well as the real-space position of the first feature.
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