Image processing apparatus, vehicle control apparatus, method, and program
Provided are an apparatus and a method for generating a two-dimensional map or a surround-view image in which an object with low position reliability is set as an enlarged display object. A data processing section configured to receive an image captured by a camera that captures the image of surroundings of a vehicle and generate a two-dimensional map including objects in the surroundings of the vehicle is included. The data processing section generates the two-dimensional map or a surround-view image including an enlarged display object having an enlarged region set thereto, the enlarged region which, in case of an object with low position reliability, extends around the object.
1. An image processing apparatus comprising:
a data processing section comprising a first processor and a first memory configured to receive an image captured by a camera comprising a temperature sensor that captures the image of surroundings of a vehicle and generate a two-dimensional map including objects in the surroundings of the vehicle, and
a vehicle control section comprising a second processor and a second memory engaged with the data processing section and configured to select a traveling route on which the vehicle does not contact the enlarged display object placed on the two-dimensional map and performs control to cause the vehicle to travel the traveling route,
wherein the data processing section determines a substantially circular dividing line between an inner region and an outer region, determines a height threshold associated with the substantially circular dividing line, receives a temperature of the camera from the temperature sensor, determines whether the temperature of the camera is within a predetermined temperature range, if the temperature of the camera is not within the predetermined temperature range, determines whether a height of at least one object in the outer region is greater than the height threshold, if the height of the at least one object is greater than the height threshold, sets a position reliability of the at least one object in the outer region to a low reliability, and generates the two-dimensional map including an enlarged display object having an enlarged region set thereto, the enlarged region which, in case of the object with low position reliability among the objects in the two-dimensional map, extends around the object.
2. The image processing apparatus according to claim 1 ,
wherein the two-dimensional map includes a surround-view image that is an image observed from above the vehicle.
3. The image processing apparatus according to claim 1 ,
wherein the data processing section determines position reliability of each object on a basis of an image height of each object.
4. The image processing apparatus according to claim 1 , wherein
the data processing section determines that an object whose image height is equal to or greater than a predetermined image height threshold is an object with low position reliability.
5. The image processing apparatus according to claim 1 ,
wherein the data processing section determines that an object whose image height is equal to or greater than a predetermined image height threshold is an object with low position reliability and places the object on the two-dimensional map as the enlarged display object having the enlarged region extending around the object set thereto, while determining that an object whose image height is not equal to or greater than the image height threshold is an object with high position reliability and placing the object on the two-dimensional map as a normal display object not having enlarged region extending around the object set thereto.
6. The image processing apparatus according to claim 1 ,
wherein the data processing section outputs a surround-view image including the two-dimensional map to a display section.
7. The image processing apparatus according to claim 1 ,
wherein the data processing section outputs the two-dimensional map to the vehicle control section configured to perform automated driving.
8. The image processing apparatus according to claim 1 ,
wherein the data processing section generates the two-dimensional map including an attention-region-set object having an attention region set thereto, the attention region which, in case of an object with low position reliability, extends around the object.
9. The image processing apparatus according to claim 1 ,
wherein the data processing section generates the two-dimensional map including the enlarged display object having an enlargement ratio that varies depending on position reliability.
10. The image processing apparatus according to claim 1 ,
wherein the data processing section generates the two-dimensional map including the objects each displayed in a color that varies depending on position reliability.
11. The image processing apparatus according to claim 1 ,
wherein the data processing section generates the two-dimensional map including the objects each surrounded by a frame having a size that varies depending on position reliability.
12. A vehicle control apparatus comprising:
a data processing section comprising a first processor and a first memory configured to receive an image captured by a camera comprising a temperature sensor that captures the image of surroundings of a vehicle and generate a two-dimensional map including objects in the surroundings of the vehicle; and
a vehicle control section comprising a second processor and a second memory engaged with the data processing section and configured to determine a traveling route by referring to the two-dimensional map generated by the data processing section and perform control to cause the vehicle to travel the traveling route,
wherein the data processing section determines a substantially circular dividing line between an inner region and an outer region of the image, determines a height threshold associated with the substantially circular dividing line, receives a temperature of the camera from the temperature sensor, determines whether the temperature of the camera is within a predetermined temperature range, if the temperature of the camera is not within the predetermined temperature range, determines whether a height of at least one object in the outer region is greater than the height threshold, if the height of the at least one object is greater than the height threshold, sets a position reliability of the at least one object in the outer region to a low reliability, and generates the two-dimensional map including an enlarged display object having an enlarged region set thereto, the enlarged region which, in case of the object with low position reliability among the objects in the two-dimensional map, extends around the object, and
the vehicle control section selects the traveling route on which the vehicle does not contact the enlarged display object placed on the two-dimensional map and performs the control to cause the vehicle to travel the traveling route.
13. An image processing method performed by an image processing apparatus, the image processing apparatus including a data processing section configured to receive an image captured by a camera comprising a temperature sensor that captures the image of surroundings of a vehicle and generate a two-dimensional map including objects in the surroundings of the vehicle and a vehicle control section engaged with the data processing section and configured to determine a traveling route by referring to the two-dimensional map generated by the data processing section and perform control to cause the vehicle to travel the traveling route, the image processing method comprising:
by the data processing section,
determining a substantially circular dividing line between an inner region and an outer region of the image,
determines a height threshold associated with the substantially circular dividing line,
receives a temperature of the camera from the temperature sensor,
determines whether the temperature of the camera is within a predetermined temperature range,
if the temperature of the camera is not within the predetermined temperature range,
determines whether a height of at least one object in the outer region is greater than the height threshold,
if the height of the at least one object is greater than the height threshold,
setting a position reliability of the at least one object in the outer region to a low reliability, and
generating the two-dimensional map including an enlarged display object having an enlarged region set thereto, the enlarged region which, in case of the object with low position reliability among the objects in the two-dimensional map, extends around the object.
14. A vehicle control method performed by a vehicle control apparatus, the vehicle control apparatus including
a data processing section comprising a first processor and a first memory configured to receive an image captured by a camera comprising a temperature sensor that captures the image of surroundings of a vehicle, determine a substantially circular dividing line between an inner region and an outer region of the image, determine a height threshold associated with the substantially circular dividing line, receives a temperature of the camera from the temperature sensor, determine whether the temperature of the camera is within a predetermined temperature range, if the temperature of the camera is not within the predetermined temperature range, determine whether a height of at least one object in the outer region is greater than the height threshold, if the height of the at least one object is greater than the height threshold, set a position reliability of the at least one object in the outer region to a low reliability, and generate a two-dimensional map including objects in the surroundings of the vehicle, and
a vehicle control section comprising a second processor and a second memory engaged with the data processing section and configured to determine a traveling route by referring to the two-dimensional map generated by the data processing section and perform control to cause the vehicle to travel the traveling route, the vehicle control method comprising:
by the data processing section,
generating the two-dimensional map including an enlarged display object having an enlarged region set thereto, the enlarged region which, in case of the object with low position reliability among the objects in the two-dimensional map, extends around the object; and
by the vehicle control section,
selecting the traveling route on which the vehicle does not contact the enlarged display object placed on the two-dimensional map and performing the control to cause the vehicle to travel the traveling route.
15. A system comprising an image processing apparatus to perform image processing, the image processing apparatus including a camera, a temperature sensor, and a data processing section comprising a first processor and a first memory configured to receive an image captured by a camera that captures the image of surroundings of a vehicle, determine a substantially circular dividing line between an inner region and an outer region of the image, determine a height threshold associated with the substantially circular dividing line, receive a temperature of the camera from the temperature sensor, determine whether the temperature of the camera is within a predetermined temperature range, if the temperature of the camera is not within the predetermined temperature range, determine whether a height of at least one object in the outer region is greater than the height threshold, if the height of the at least one object is greater than the height threshold, set a position reliability of the at least one object in the outer region to a low reliability, and generate a two-dimensional map including objects in the surroundings of the vehicle, and a vehicle control section comprising a second processor and a second memory engaged with the data processing section and configured to determine a traveling route by referring to the two-dimensional map generated by the data processing section and perform control to cause the vehicle to travel the traveling route, the data processing section generating the two-dimensional map including an enlarged display object having an enlarged region set thereto, the enlarged region which, in case of the object with low position reliability among the objects in the two-dimensional map, extends around the object.
16. A system comprising a vehicle control apparatus to perform a vehicle control process, the vehicle control apparatus including
a data processing section comprising a first processor and a first memory configured to receive an image captured by a camera comprising a temperature sensor that captures the image of surroundings of a vehicle, determine a substantially circular dividing line between an inner region and an outer region of the image, determine a height threshold associated with the substantially circular dividing line, receive a temperature of the camera from the temperature sensor, determines whether the temperature of the camera is within a predetermined temperature range, if the temperature of the camera is not within the predetermined temperature range, determine whether a height of at least one object in the outer region is greater than the height threshold, if the height of the at least one object is greater than the height threshold, set a position reliability of the at least one object in the outer region to a low reliability, and generate a two-dimensional map including objects in the surroundings of the vehicle, and
a vehicle control section comprising a second processor and a second memory configured to determine a traveling route by referring to the two-dimensional map generated by the data processing section and perform control to cause the vehicle to travel the traveling route, wherein:
the data processing section generates the two-dimensional map including an enlarged display object having an enlarged region set thereto, the enlarged region which, in case of an object with low position reliability among the objects in the two-dimensional map, extends around the object; and
the vehicle control section selects the traveling route on which the vehicle does not contact the enlarged display object placed on the two-dimensional map and perform the control to cause the vehicle to travel the traveling route.