Position detection apparatus and position detection method

1. A position detection apparatus that is mounted on a movable body and is configured to detect a low position that is a position lower than a road surface on which the movable body is present, the position detection apparatus comprising:

a stereo camera;

a parallax image acquisition section configured to acquire a parallax image in which a parallax is associated with each pixel from an image captured by the stereo camera;

a voting section configured to vote the parallax associated with each pixel in the parallax image to a two-dimensional matrix of the parallax and a pixel in a vertical direction in the parallax image;

a line extraction section configured to extract a line from a coordinate system in which the parallax having the number of votes by the voting section that is greater than or equal to a threshold value is plotted, and in which an X-axis indicates the parallax and a Y-axis indicates the pixel in the vertical direction; and

a determination section configured such that, in a case where

a first line and a second line are detected by the line extraction section,

an X-coordinate of the start point coordinates of the second line is greater than an X-coordinate of end point coordinates of the first line, and

a difference between a slope of the first line and a slope of the second line falls within a permissible range,

the determination section determines that the low position is present at a position farther from the movable body than a position in real space that corresponds to a Y-coordinate of start point coordinates of the second line.

2. The position detection apparatus according to claim 1 ,

wherein the determination section is configured to determine that the low position is a flat surface formed due to a step in a case where

(i) an intercept of the first line and an intercept of the second line are different from each other, and

(ii) a difference between the X-coordinate of the end point coordinates of the first line and the X-coordinate of the start point coordinates of the second line is greater than or equal to a predetermined value.

3. The position detection apparatus according to claim 1 ,

wherein the determination section is configured to determine that the low position is a ditch that is recessed from the road surface in a case where:

(vi) a difference between an intercept of the first line and an intercept of the second line falls within a permissible range,

(vii) a third line, which extends from the end point coordinates of the first line and in which an X-coordinate decreases as a Y-coordinate increases is present, and

(viii) a difference between an X-coordinate of end point coordinates of the third line and the X-coordinate of the start point coordinates of the second line is greater than or equal to a predetermined value.

4. A position detection method executed by a position detection apparatus mounted on a movable body, the position detection method comprising:

capturing an image with a stereo camera;

acquiring a parallax image in which a parallax is associated with each pixel from the image captured by the stereo camera;

voting the parallax associated with each pixel in the parallax image to a two-dimensional matrix of the parallax and a pixel in a vertical direction in the parallax image;

extracting a line from a coordinate system in which the parallax having the number of votes obtained by voting the parallax that is greater than or equal to a threshold value is plotted, and in which an X-axis indicates the parallax and a Y-axis indicates the pixel in the vertical direction;

detecting a first line and a second line by extracting the line, an X-coordinate of start point coordinates of the second line being greater than an X-coordinate of end point coordinates of the first line, a difference between a slope of the first line and a slope of the second line falling within a permissible range; and

determining, in a case where the first line and the second line are detected, that a low position that is a position lower than a road surface on which the movable body is present is present at a position farther from the movable body than a position in real space corresponding to a Y-coordinate of the start point coordinates of the second line.

5. A non-transitory computer-readable storage medium storing a program for causing a processor mounted on a movable body to execute a position detection process, the position detection process comprising:

capturing an image with a stereo camera;

acquiring a parallax image in which a parallax is associated with each pixel from the image captured by the stereo camera;

voting the parallax associated with each pixel in the parallax image to a two-dimensional matrix of the parallax and a pixel in a vertical direction in the parallax image;

extracting a line from a coordinate system in which the parallax having the number of votes obtained by voting the parallax that is greater than or equal to a threshold value is plotted, and in which an X-axis indicates the parallax and a Y-axis indicates the pixel in the vertical direction;

detecting a first line and a second line by extracting the line, an X-coordinate of start point coordinates of the second line being greater than an X-coordinate of end point coordinates of the first line, a difference between a slope of the first line and a slope of the second line falling within a permissible range; and

determining, in a case where the first line and the second line are detected, that a low position that is a position lower than a road surface on which the movable body is present is present at a position farther from the movable body than a position in real space corresponding to a Y-coordinate of the start point coordinates of the second line.