US 12,169,946 B2
Angular direction identifying device and angular direction identifying method
Ryusuke Tamanaha, Tokyo (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Jan. 26, 2023, as Appl. No. 18/159,795.
Claims priority of application No. 2022-025265 (JP), filed on Feb. 22, 2022.
Prior Publication US 2023/0267645 A1, Aug. 24, 2023
Int. Cl. G06T 7/73 (2017.01); G06T 7/246 (2017.01)
CPC G06T 7/74 (2017.01) [G06T 7/248 (2017.01); G06T 2207/30252 (2013.01)] 5 Claims
OG exemplary drawing
 
1. An angular direction identifying device comprising a processor that includes:
a photographed image acquiring unit configured to acquire a photographed image by a camera provided in a movable body;
an angular direction information acquiring unit configured to acquire angular direction information in a case where a predetermined physical object suggesting an angular direction is shown in the photographed image, the angular direction information indicating the angular direction suggested by the predetermined physical object;
a view-axis angular direction identifying unit configured to identify an angular direction in which a view axis of the camera is pointed, based on the angular direction information and a position relation between the predetermined physical object in the photographed image and the view axis of the camera; and
a predetermined physical object recognizing unit configured to detect the predetermined physical object from the photographed image based on whether a discrimination sign is put on the predetermined physical object, the discrimination sign indicating that the predetermined physical object is a physical object suggesting the angular direction, wherein
when the predetermined physical object suggesting the angular direction detected by the predetermined physical object recognizing unit is a pole group comprising a plurality of poles arranged in an array direction, the view-axis angular direction identifying unit identifies a direction suggested by the array direction of the pole group, based on the angular direction information, and the view-axis angular direction identifying unit identifies a direction in which the view axis is oriented, based on a position relation between the array direction of the pole group in the photographed image and the view axis of the camera.