US 12,437,549 B2
Image processing apparatus and vehicle
Yusuke Goto, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Appl. No. 17/923,668
Filed by SUBARU CORPORATION, Tokyo (JP)
PCT Filed Jun. 11, 2021, PCT No. PCT/JP2021/022298
§ 371(c)(1), (2) Date Nov. 7, 2022,
PCT Pub. No. WO2022/259520, PCT Pub. Date Dec. 15, 2022.
Prior Publication US 2023/0377347 A1, Nov. 23, 2023
Int. Cl. G06V 20/56 (2022.01); G06V 10/44 (2022.01); G06V 10/70 (2022.01); G06V 10/82 (2022.01)
CPC G06V 20/56 (2022.01) [G06V 10/443 (2022.01); G06V 10/70 (2022.01); G06V 10/82 (2022.01)] 8 Claims
OG exemplary drawing
 
1. An image processing apparatus, comprising:
circuitry configured to,
obtain a result of inference of object recognition for an object based on:
defining a region of a captured image;
extracting a feature quantity included in the captured image based on executing, on a basis of the captured image, a convolution calculation using a filter including multiple filter values that are arranged two-dimensionally, wherein the feature quantity is extracted from the defined region with the filter and the region comprises a predetermined number of pixels that are equal to a number of the filter values that the filter has;
calculating a value of the extracted feature quantity;
identifying the object on a basis of the calculated value; and
assigning a category of the object in the defined region indicating what the identified object is,
update the filter by machine learning based on the result of inference of the object recognition for the object and ground truth data of the object recognition for the object, and
set the multiple filter values in the filter at respective values that are horizontally symmetric by executing an update process on the multiple filter values upon updating the filter by the machine learning based on the result of inference of the object recognition and the ground truth data of the object recognition, wherein
the update process includes updating each of every two filter values of the multiple filter values located at two horizontally symmetric positions to an average value of the two filter values located at the two horizontally symmetric positions, to obtain a horizontally symmetric filter,
the image processing apparatus is mountable on a vehicle,
by virtue of the multiple filter values set at values that are horizontally symmetric, horizontal symmetry is secured regarding:
a result of identification of the object in a case where a travel environment for the vehicle is a left-side travel environment, and
a result of identification of the object in a case where the travel environment for the vehicle is a right-side travel environment.