US 9,811,742 B2
Vehicle-surroundings recognition device
Takehito Ogata, Tokyo (JP); Masahiro Kiyohara, Tokyo (JP); Kota Irie, Saitama (JP); Masao Sakata, Saitama (JP); and Yoshitaka Uchida, Saitama (JP)
Assigned to Clarion Co., Ltd., Saitama-shi (JP)
Appl. No. 15/107,143
Filed by Clarion Co., Ltd., Saitama-shi, Saitama (JP)
PCT Filed Nov. 14, 2014, PCT No. PCT/JP2014/080182
§ 371(c)(1), (2) Date Jun. 22, 2016,
PCT Pub. No. WO2015/104898, PCT Pub. Date Jul. 16, 2015.
Claims priority of application No. 2014-002549 (JP), filed on Jan. 9, 2014.
Prior Publication US 2016/0364619 A1, Dec. 15, 2016
Int. Cl. G06K 9/00 (2006.01); G08G 1/16 (2006.01); G06T 7/70 (2017.01); G06T 7/50 (2017.01)
CPC G06K 9/00791 (2013.01) [G06K 9/00362 (2013.01); G06K 9/00805 (2013.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G08G 1/166 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30261 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A vehicle surroundings recognition apparatus recognizing a distance to a pedestrian appearing in an image obtained by performing image-capturing around a vehicle, the apparatus comprising:
a first detection unit detecting first position information about the pedestrian in the image;
a second detection unit detecting second position information about a moving object in the image in accordance with a technique different from the first detection unit;
a first detection position interpolation unit performing identical object association on the basis of the first position information about the pedestrian detected by the first detection unit and the second position information about the moving object detected by the second detection unit, and in a case where a first state in which the first position information and the second position information as the same object are detected and a second state in which the second position information about the moving object is detected with only the second detection unit occur in a time sequence, the first detection position interpolation unit calculating first position information interpolation information for interpolating the first position information about the pedestrian in the second state on the basis of a relative position of the first position information about the pedestrian with respect to the second position information about the moving object in the first state; and
a distance measurement unit measuring a distance to the pedestrian on the basis of the first position information and the first position information interpolation information.