Filtering device

Patent metadata

Field	Value
Publication number	US-9659376-B2
Application number	US-201414478966-A
Country	US
Kind code	B2
Filing date	Sep 5, 2014
Priority date	Sep 30, 2013
Publication date	May 23, 2017
Grant date	May 23, 2017

Abstract

When a positional relationship between reference blocks differs from a positional relationship between comparison blocks, a filtering device replaces the corresponding comparison blocks to update positional relationship information (order of correlations and the positional relationship thereof) into a state where the information should be and, thus, appropriately derives a difference value of an object so that the positional relationship between the reference blocks become identical to the positional relationship between the comparison blocks.

First claim

The invention claimed is:

1. A filtering device, comprising:
an evaluation value deriving module that derives, per a pair of comparison targets having mutual relevance, multiple evaluation values indicative of correlations between any one of reference extracted parts extracted from one of the comparison targets and multiple comparison extracted parts extracted from the other comparison target;
a positional relationship information deriving module that, for each of the reference extracted parts, derives an order of the respective correlations of the multiple comparison extracted parts and respective positional relationships of at least some of the multiple comparison extracted parts in the ordered correlations to the reference extracted part, wherein, for each of the reference extracted parts, a first candidate for determining a correct correlation for the reference extracted part is identified based on a comparison extracted part with a highest correlation to the reference extracted part in the ordered correlations for that reference extracted part; and
a positional relationship replacing module that, for at least one reference extracted part, replaces the identified first candidate with a different first candidate, based on one of the comparison extracted parts that does not have the highest correlation to that reference extracted part, so that the difference between the positional relationship of that one reference extracted part to the different first candidate and the positional relationship of another reference extracted part to the identified first candidate is less than a predetermined amount.

2. The filtering device of claim 1 , wherein
the positional relationship information deriving module extracts a predetermined number of the multiple comparison extracted parts having the highest correlations with the reference extracted part, derives the order of correlations of the comparison extracted parts to the reference extracted part and the positional relationship of the order of correlations, and associates the order of correlations and the positional relationship with the reference extracted part; and
the positional relationship replacing module compares the order of correlations of the comparison extracted parts to one reference extracted part and the positional relationship of the order of correlations with the order of correlations of the comparison extracted parts to the other reference extracted part and the positional relationship of the order of correlations, respectively, and evaluates correlations of the comparison extracted parts corresponding to the reference extracted part.

3. The filtering device of claim 2 , wherein,
when the difference between the position of the comparison extracted part having the highest correlation to one reference extracted part and the position of the comparison extracted part having the highest correlation to the other reference extracted part is less than a predetermined amount, and the difference between the position of the comparison extracted part having the second highest correlation to the one reference extracted part and the position of the comparison extracted part having second highest correlation to the other reference extracted part is less than the predetermined amount, the positional relationship replacing module evaluates that an error has occurred in the correlation of the comparison extracted part corresponding to either one of the reference extracted parts.

4. The filtering device of claim 3 , wherein
the positional relationship information deriving module derives a relative position of the comparison extracted part with respect to the reference extracted part; and
when the difference between the relative position of the comparison extracted part having the second highest correlation to the one reference extracted part and the relative position of the comparison extracted part having the highest correlation to the other reference extracted part is less than a predetermined amount, the positional relationship replacing module determines that an error has occurred in the correlation of the comparison extracted part corresponding to the one reference extracted part, and mutually replaces the order of correlations of the comparison extracted parts corresponding to the one reference extracted part.

5. The filtering device of claim 3 , wherein
the positional relationship information deriving module derives a relative position of the comparison extracted part with respect to the reference extracted part; and
when the difference between the relative position of the comparison extracted part having the highest correlation to the one reference extracted part and the relative position of the comparison extracted part having the second highest correlation to the other reference extracted part is less than a predetermined amount, the positional relationship replacing module determines that an error has occurred in the correlation of the comparison extracted part corresponding to the other reference extracted part, and mutually replaces the order of correlations of the comparison extracted parts corresponding to the other reference extracted part.

6. The filtering device of claim 4 , wherein
the positional relationship information deriving module derives a relative position of the comparison extracted part with respect to the reference extracted part; and
when the difference between the relative position of the comparison extracted part having the highest correlation to the one reference extracted part and the relative position of the comparison extracted part having the second highest correlation to the other reference extracted part is less than a predetermined amount, the positional relationship replacing module determines that an error has occurred in the correlation of the comparison extracted part corresponding to the other reference extracted part, and mutually replaces the order of correlations of the comparison extracted parts corresponding to the other reference extracted part.

7. The filtering device of claim 3 , wherein
the positional relationship information deriving module derives a relative position of the comparison extracted part with respect to the reference extracted part; and
when the difference between the relative position of the comparison extracted part having the second highest correlation to the one reference extracted part and the relative position of the comparison extracted part having the highest correlation to the other reference extracted part is not less than a predetermined amount, and the difference between the relative position of the comparison extracted part having the highest correlation to the one reference extracted part and the relative position of the comparison extracted part having the second highest correlation to the other reference extracted part is not less than a predetermined amount, the positional relationship replacing module validates the comparison extracted part of which the relative position becomes the smallest with respect to the reference extracted part, and invalidates the relative positions of other comparison extracted parts.

8. The filtering device of claim 2 , wherein, when the difference between the relative position of the comparison extracted part having the highest correlation to one reference extracted part and the relative position of the comparison extracted part having the second highest correlation to the other reference extracted part is less than a predetermined amount, and the difference between the relative position of the comparison extracted part having the second highest correlation to the one reference extracted part and the relative position of the comparison extracted part having the highest correlation to the other reference

Assignees

• Fuji Heavy Ind Ltd
• Subaru Corp

Inventors

• Ono Hiroyuki

Classifications

• G06T7/223

  using block-matching · CPC title

• G06V20/56 Primary

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06T7/593

  from stereo images · CPC title

• G06K9/6202

  Physics · mapped topic

• G06K9/00805

  Physics · mapped topic