Nissan Motor Company Limited

Hiroyuki Furushou

Shinya Tanaka

Chikao Tsuchiya

Yasuhisa Hayakawa

Osamu Fukata

A three-dimensional object detection deviceincludes a cameraand a calculator. The calculatorperforms viewpoint conversion processing on an image captured by the camerato create a bird's eye view image, calculates, for each of a plurality of positions along a vertical imaginary line extending in a vertical direction in an actual space, a luminance difference between two pixels near the position, and detects a three-dimensional object on the basis of continuities of the calculated luminance differences of the respective positions.

Three-dimensional object detection device and three-dimensional object detection method

A periodic stationary object detection system extracts a feature point of a three-dimensional object from image data on a predetermined region of a bird's eye view image for each of multiple sub regions included in the predetermined region, calculates waveform data corresponding to a distribution of the feature points in the predetermined region on the bird's eye view image, and judges whether or not the three-dimensional object having the extracted feature point is a periodic stationary object candidate on the basis of whether or not peak information of the waveform data is equal to or larger than a predetermined threshold value.

Periodic stationary object detection system and periodic stationary object detection method

A travel distance detection device includes: an image-capturing unit configured to capture an image; an alignment unit configured to align images in position of bird's-eye view image, the images captured at different times by the image-capturing unit; and a solid object detection unit configured to detect a solid object based on difference image data between data of the images captured at the different times and aligned by the alignment unit. The solid object detection unit counts the number of pixels which each express a certain difference on the difference image data and which are arranged in a direction in which the solid object is inclined when the image of the predetermined region is converted into the bird's-eye view image, then produces a frequency distribution of the counted pixels to generate a difference waveform, and calculates a travel distance of the solid object based on time variation of the difference waveform.

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Atsugi, Japan

Hiroyuki Furushou