Obstacle identification apparatus and obstacle identification program
US11393220B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Oct 12, 2020 |
| Grant date | Jul 19, 2022 |
| Priority date | — |
| Expiry date | Oct 12, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
An obstacle identification apparatus acquires an image that is captured by a camera that is mounted to a vehicle. The obstacle identification apparatus calculates a first gradient that is a gradient in a first direction of a luminance value of pixels in the image and a second gradient that is a gradient of the luminance value in a second direction orthogonal to the first direction of the first gradient. Based on the first gradient and the second gradient, the obstacle identification apparatus estimates a shadow boundary that is a boundary between an own-vehicle shadow that is a shadow of the own vehicle and an object outside the vehicle. Based on the estimated shadow boundary, the obstacle identification apparatus estimates the own-vehicle shadow.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.