Environment recognition device and environment recognition method
View Patent ↗There are provided an environment recognition device and an environment recognition method. the environment recognition device retains beforehand shape information that is information on a shape of a specific object; obtains a luminance of each of target portions, formed by dividing a detection area, and extracting a target portion including an edge; obtains a relative distance of the target portion including an edge; and determines a specific object indicated with the shape information by performing a Hough transform on the target portion having the edge based on the shape information according to the relative distance.
1. An environment, recognition device comprising:
a data retaining unit that retains shape information that is information on a shape of a specific object;
an edge extracting unit that obtains a luminance of each of target portions, formed by dividing a detection area of a luminance image, and extracts a target portion forming an edge;
a position information obtaining unit that obtains a relative distance of the target portion forming an edge; and
a specific object determining unit that determines a specific object indicated with the shape information by performing a Hough transform on a position of the target portion forming the edge based on the shape information according to the relative distance.
2. The environment recognition device according to claim 1 , wherein the shape of the specific object is a circle.
3. The environment recognition device according to claim 2 , wherein the specific object determining unit specifies a center of a circle on which a target portion forming an edge is, with limiting the presence of the center in a range vertical to a direction in which the edge extends.
4. The environment recognition device according to claim 3 , wherein the position information obtaining unit also obtains a height of the target portion forming the edge from a road surface, and the specific object determining unit may determine a specific object indicated by the shape information only from the target portions included in a predetermined partial search region based on the relative distance and the height from the road surface.
5. The environment recognition device according to claim 2 , wherein the position information obtaining unit also obtains a height of the target portion forming the edge from a road surface, and the specific object determining unit may determine a specific object indicated by the shape information only from the target portions included in a predetermined partial search region based on the relative distance and the height from the road surface.
6. The environment recognition device according to claim 1 , wherein the position information obtaining unit also obtains a height of the target portion forming the edge from a road surface, and the specific object determining unit may determine a specific object indicated by the shape information only from the target portions included in a predetermined partial search region based on the relative distance and the height from the road surface.
7. An environment recognition method comprising:
retaining beforehand shape information that is information on a shape of a specific object;
obtaining a luminance of each of target portions, formed by dividing a detection area of a luminance image, and extracting a target portion forming an edge;
obtaining a relative distance of the target portion forming an edge; and
determining a specific object indicated with the shape information by performing a Hough transform on a position of the target portion forming the edge based on the shape information according to the relative distance.