The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 08, 2025
Filed:
Sep. 07, 2022
Denso Corporation, Kariya, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Shusaku Shigemura, Kariya, JP;
Yuta Sakakibara, Kariya, JP;
Takuya Nakagawa, Nagoya, JP;
Motonari Obayashi, Nagakute, JP;
DENSO CORPORATION, Kariya, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
In an obstacle detection apparatus, the captured image of a vicinity of a vehicle from an imaging apparatus is acquired. A three-dimensional estimation image showing a three-dimensional position of a feature point in the captured image is generated, and a three-dimensional position of an object is estimated. An attribute image in which an object in the captured image is classified into one or more classes that include at least a road-surface class is generated. The three-dimensional estimation image and the attribute image are fused, the feature points and the classes are associated, and road-surface points associated with the road-surface class are extracted. Based on the road-surface points, a road-surface height in the vicinity of the vehicle is estimated. Based on the estimated road-surface height, the three-dimensional position of the object is corrected. Based on the three-dimensional position of the object, an obstacle in the vicinity of the vehicle is detected.