{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1573387452709752192.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"NAID","@value":"110009550146"}}],"dc:title":[{"@language":"ja","@value":"ドロネー三角形を利用した単眼車載カメラの映像からの障害物検知法"},{"@language":"en","@value":"Obstacle Detection from Monocular On-Vehicle Camera in units of Delaunay Triangles"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"ja","@value":"車載単眼カメラを用いて障害物を検知するアルゴリズムを提案する．主に駐車時における障害物検知を目的とする．そのため静止した障害物の検知に主眼を置く．提案法のアイデアは，それまでに車両が走行してきた軌跡上には確実に障害物がないことを利用して蓋然性の高い道路面を求め，仮説検定によって道路面と判断できる領域を拡大し，以後その領域を道路面とみなし教師データとして利用する．次にフレーム内の特徴点をドロネー三角形分割し，三角形を単位に道路面か否かの最終判定を尤度関数によって行う．An algorithm to detect obstacles by using a monocular on-vehicle video camera is developed. Since our main application is when parking a vehicle, we focus on motionless obstacles. Our key idea is to use the knowledge that there are no obstacles along the trajectory of the vehicle so far. The knowledge helps us to find a part of road surface with high probability and to construct a likelihood function. The image is divided into Delaunay triangles so that we can judge each triangle whether it is a part of road surface or not."}]}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1583387452709752192","@type":"Researcher","foaf:name":[{"@language":"ja","@value":"太田直哉"}]},{"@id":"https://cir.nii.ac.jp/crid/1583387452709752193","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000237619122"}],"foaf:name":[{"@language":"ja","@value":"長井歩"}]}],"publication":{"publicationIdentifier":[{"@type":"NCID","@value":"AN1009593X"}],"prism:publicationName":[{"@value":"研究報告アルゴリズム（AL）"}],"prism:publicationDate":"2013-02-22","prism:volume":"2013","prism:number":"13","prism:startingPage":"1","prism:endingPage":"8"},"dataSourceIdentifier":[{"@type":"CIA","@value":"110009550146"}]}