Image processing device and image processing method detecting vehicle parking space

Patent metadata

Field	Value
Publication number	US-11195032-B2
Application number	US-201916574393-A
Country	US
Kind code	B2
Filing date	Sep 18, 2019
Priority date	Dec 14, 2018
Publication date	Dec 7, 2021
Grant date	Dec 7, 2021

Abstract

An image processing device includes: a delimiting line detection unit configured to detect a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle, the delimiting line candidate being a candidate of a delimiting line that delimits a parking space; and an exclusion determination unit configured to determine whether or not to exclude the delimiting line candidate detected by the delimiting line detection unit from the candidate of the delimiting line. In a case where a plurality of the delimiting line candidates is detected within a predetermined range in the image data, the exclusion determination unit determines whether or not to exclude the delimiting line candidate from the candidate of the delimiting line by comparing edge strength of the plurality of delimiting line candidates.

First claim

What is claimed is:

1. An image processing device comprising:
a computer including a hardware processor configured to function as a delimiting line detection unit and an exclusion determination unit, wherein
the delimiting line detection unit is configured to detect a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle, the delimiting line candidate being a candidate of a delimiting line that delimits a parking space; and
the exclusion determination unit is configured to determine whether or not to exclude the delimiting line candidate detected by the delimiting line detection unit from being the candidate of the delimiting line,
wherein, in a case where a plurality of the delimiting line candidates are detected within a predetermined range in the image data and in a case where the plurality of delimiting line candidates are arranged substantially in parallel with each other, the exclusion determination unit determines whether or not to exclude the delimiting line candidate from being the candidate of the delimiting line by comparing edge strengths of the plurality of delimiting line candidates to each other.

2. The image processing device according to claim 1 , wherein, in a case where a difference between the edge strengths of the plurality of delimiting line candidates is equal to or greater than a predetermined value, the exclusion determination unit excludes the delimiting line candidate having a weaker edge strength among the plurality of delimiting line candidates, from being the candidate of the delimiting line.

3. The image processing device according to claim 1 , wherein the exclusion determination unit is configured to determine whether or not to exclude the delimiting line candidate from being the candidate of the delimiting line, based on a relative positional relationship of the plurality of delimiting line candidates.

4. The image processing device according to claim 2 , wherein the exclusion determination unit is configured to determine whether or not to exclude the delimiting line candidate from being the candidate of the delimiting line, based on a relative positional relationship of the plurality of delimiting line candidates.

5. An image processing method comprising:
detecting, by a computer including a hardware processor, a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle, the delimiting line candidate being a candidate of a delimiting line that delimits a parking space; and
determining, by the computer including the hardware processor, whether or not to exclude the delimiting line candidate detected, from being the candidate of the delimiting line,
wherein, in a case where a plurality of the delimiting line candidates are detected within a predetermined range in the image data and in a case where the plurality of delimiting line candidates are arranged substantially in parallel with each other, it is determined whether or not to exclude the delimiting line candidate from being the candidate of the delimiting line by comparing edge strengths of the plurality of delimiting line candidates to each other.

6. The image processing device according to claim 1 , wherein
the delimiting line candidate detected by the delimiting line detection unit is an edge line formed by connecting adjacent edge points, each of the adjacent edge points having a pixel with an edge strength that exceeds a predetermined value.

7. The image processing method according to claim 5 , wherein
the delimiting line candidate detected is an edge line formed by connecting adjacent edge points, each of the adjacent edge points having a pixel with an edge strength that exceeds a predetermined value.

8. The image processing device according to claim 1 , wherein the delimiting line detection unit detects, as the delimiting line candidate, a rectangular area having edge lines that are substantially parallel with each other and spaced from each other by a predetermined range corresponding to a width of a delimiting line.

9. The image processing method according to claim 5 , wherein the delimiting line candidate is detected as a rectangular area having edge lines that are substantially parallel with each other and spaced from each other by a predetermined range corresponding to a width of a delimiting line.

Assignees

• Denso Ten Ltd

Inventors

• Okada Yasutaka
• Sano Hiroaki
• Yamamoto Tetsuo
• Yoshihara Atsushi
• Kanetake Jun
• Yoshimura Ryo
• Shidori Tomoki

Classifications

• G06V10/443

  by matching or filtering · CPC title

• G06V20/586 Primary

  of parking space · CPC title

• G06T2207/30256

  Lane; Road marking · CPC title

• G06T7/12

  Edge-based segmentation · CPC title

• G06T2207/30264

  Parking · CPC title