Abstract: A distance measuring apparatus is provided. The apparatus comprises an image acquisition unit that acquires time-series images by an imaging unit, and a processing unit that performs image processing. The processing unit generates a plurality of enlarged images obtained by enlarging a reference image acquired before a target image among the time-series images at a plurality of types of different enlargement rates. The processing unit obtains a difference between each of the plurality of enlarged images and the target image, detects a target object that is a subject from the target image, and specifies a distance to the detected target object on the basis of the enlargement rate of the enlarged image with which the difference is minimum.

Abstract: An information supply method is a method of causing a computer of a terminal device equipped with a camera and mounted in a mobile object to execute: a process of acquiring images captured at different times; a process of predicting whether the mobile object has an intention to turn right or left based on the images captured at the different times; and a process of displaying an image for an alarm about presence of a traffic participant on a display provided on a casing in which the camera of the terminal device is provided based on a result of the estimation.

Abstract: A vehicle control device for controlling steering and braking of a vehicle: determines, based on prediction of movement of an object detected on a road and prediction of a traveling trajectory of the vehicle, whether collision between the vehicle and the object will occur; determines whether it is possible to avoid the collision by braking without steering when it is determined that the collision will occur; and performs braking control for avoiding the collision and assists the steering such that the vehicle remains in a lane in which the vehicle is traveling when it is determined that it is possible to avoid the collision by braking.

Abstract: This invention provides a vehicle control device for controlling a vehicle, which comprises a first detection unit that detects an out-of-lane region outside a lane in which the vehicle is traveling; a second detection unit that detects an obstacle; a notification unit that issues a notification to prompt a driver to perform a steering operation toward the out-of-lane region in a case where the first detection unit detects the out-of-lane region, the second detection unit detects the obstacle, and the vehicle and the obstacle have a predetermined relationship; and a determination unit that determines that steering control in the out-of-lane region is approved in a case where, after the notification unit starts to issue the notification, the vehicle enters the out-of-lane region in response to a steering operation by the driver.

Abstract: A hardware processor of a mobile object executes the program stored in a storage device to acquire reference information with which a facility where an occupant is likely to stop by is identifiable; to recognize whether a mobile object is moving on a roadway or a predetermined region different from the roadway; to recognize presence of a contact portion between the predetermined region and the roadway in a traveling direction of the mobile object; to partially control a speed of the mobile object; to limit a speed of the mobile object moving on the roadway to a first speed; to limit a speed of the mobile object moving on the predetermined region to a second speed lower than the first speed; and to bring a speed of the mobile object to the second speed when the mobile object is moving on the roadway, the contact portion is recognized within a predetermined range from the mobile object, and it is determined with reference to the reference information that there is a facility where the occupant is likely to stop

Abstract: A hardware processor of a mobile object executes the program stored in a storage device to acquire a state of at least one occupant getting on a mobile object capable of moving on both a roadway and a predetermined region different from the roadway; to recognize whether the mobile object is moving on the roadway or the predetermined region; to recognize presence of a contact portion between the predetermined region and the roadway in a traveling direction of the mobile object; to control the speed of the mobile object at least partially, and limit a speed at which the mobile object is moving on the roadway to a first speed and limit a speed at which the mobile object is moving on the predetermined region to a second speed slower than the first speed; and to bring a speed of the mobile object closer to the second speed when the mobile object is moving on the roadway, the contact portion is recognized within a predetermined range from the mobile object, and the state of the occupant is a predetermined state.

Abstract: An object detection device includes a storage device which has stored a program, and a hardware processor, in which the hardware processor executes the program stored in the storage device, thereby acquiring a captured image in which a road is captured, generating a low-resolution image in which an image quality of the captured image is lowered, defining one or more partial area sets with each of the one or more partial area sets defined by cutting out a plurality of partial areas from the low-resolution image, deriving an aggregated value obtained by aggregating differences in feature amount between the partial areas included in each of the one or more partial area set and the peripheral partial areas, and extracting a point of interest based on the aggregated value.

Abstract: A hardware processor of a mobile object executes the program stored in a storage device to acquire information indicating a behavior of a mobile object which is capable of moving on both a roadway and a predetermined region different from the roadway; to recognize whether the mobile object is moving on the roadway or the predetermined region; to recognize presence of a contact portion between the predetermined region and the roadway in a traveling direction of the mobile object; to control the speed of the mobile object at least partially; to limit a speed at which the mobile object is moving on the roadway to a first speed; to limit a speed at which the mobile object is moving on the predetermined region to a second speed slower than the first speed; and to bring a speed of the mobile object closer to the second speed when the mobile object is moving on the roadway, the contact portion is recognized within a predetermined range from the mobile object, and a behavior of the mobile object satisfies a predeterm

Abstract: An information supply method causes a computer of a terminal device equipped with a camera and mounted in a mobile object to execute: a process of acquiring an image; a process of determining an alert level for an operator of the mobile object is a first alert level or a second alert level that is a level lower than the first alert level based on a surrounding situation of the mobile object obtained from the image; and a process of displaying information appropriate to the alert level on a display provided on a casing in which the camera of the terminal device is provided in accordance with a result of the determination.

Abstract: A trajectory generation device 1 determines first to third predicted trajectories by using model formulas (1) to (20) that model a trajectory of a host vehicle 3 on the basis of peripheral information of an information detection device 4, calculates a risk potential R_p_mi_vj_v_r by using the first to third predicted trajectories, and determines moving average values P_c1 to P_c3 so that the risk potential R_p_mi_vj_v_r decreases. In a case where the moving average values P_c1 and P_c2 have the same sign, the first predicted trajectory is determined while reflecting the moving average value P_c2 for correcting the second predicted trajectory.

Abstract: A control device for a mobile object includes an image acquisition unit configured to acquire an image of an external environment from imaging devices, a correction unit configured to perform distortion reduction processing for reducing distortion of an image for each of one or more regions included in images acquired from the imaging devices, and a recognition unit configured to recognize the external environment of the mobile object based on an image on which the distortion reduction processing has been performed. When a first region that is an imaging region in a specific direction with respect to the mobile object in an image acquired from a first imaging device is set as a target of the distortion reduction processing, a second region that is an imaging region in the specific direction in an image acquired from a second imaging device is set as a target of the distortion reduction processing.

Abstract: An information processing apparatus includes a processing unit configured to execute an inference operation in an execution cycle. The inference operation is executed by inputting input data including time series data to a neural network. An interval of acquiring constituting data of the time series data to be input in a single time of the inference operation is longer than the execution cycle.

Abstract: An image processing apparatus is provided. The apparatus comprises an image acquisition unit; and a processing unit configured to process an image acquired by the image acquisition unit, wherein the processing unit recognizes a moving object from the image acquired by the image acquisition unit, performs masking processing on the moving object recognized in the image; and estimates spatial motion of the image processing apparatus based on the image subjected to the masking processing.

Abstract: A control device for a mobile object including one or more imaging devices, the control device includes an image acquisition unit configured to acquire an image of an external environment of the mobile object from the one or more imaging devices, a correction unit configured to perform distortion reduction processing for reducing distortion of an image for each of one or more regions included in an image acquired from the one or more imaging devices, and a recognition unit configured to recognize the external environment of the mobile object based on an image on which the distortion reduction processing has been performed. The correction unit is configured to determine the one or more regions to be a target of the distortion reduction processing in accordance with a predetermined rule according to a moving scene of the mobile object.

Abstract: A control apparatus for a vehicle including an image capturing device periodically acquires an image of an external environment of the vehicle from the image capturing device and recognizes a target object in the external environment of the vehicle based on the acquired image. The apparatus controls setting of a predetermined region for the acquired image and performs distortion reduction processing for reducing distortion of the image for the set predetermined region. In a case where a particular target object that is recognized is included in the predetermined region, the apparatus changes the predetermined region such that a region other than the particular target object included in the predetermined region increases.

Abstract: A control device that controls imaging with fisheye cameras disposed on front and rear portions and right and left side portions of a vehicle, the control device comprising: an acquisition unit configured to acquire information regarding a speed of the vehicle; and a control unit configured to control a conversion center position for converting a fisheye image of each of the fisheye cameras into a planar image based on the speed of the vehicle.

Abstract: An information processing apparatus, for estimating a movement amount of a moving object to which the information processing apparatus is attached, captures an image taken of an exterior view seen from the moving object. The apparatus estimates the movement amount of the moving object based on a first taken image taken at a first time and a second taken image taken at a second time earlier than the first time. The apparatus estimates the movement amount of the moving object based on a difference between image information on a predetermined region of each manipulated image obtained by manipulating the second taken image based on mutually different predicted movement amounts and image information on a predetermined region cut out from the first taken image.

Abstract: A traveling track determination device includes an ECU. The ECU calculates a second course target point, and determines a future traveling track for the vehicle at right/left turn using a first straight line that extends from the vehicle through an intersection in a forward direction, a second straight line that extends along a second course through the second course target point and intersects with the first straight line in the intersection, and a curved track configured of a quadratic Bézier curve.

Abstract: An image processing apparatus comprises: a image capturing unit configured to capture an image including a region corresponding to an inside of a vehicle and a region corresponding to an outside of the vehicle; an acquisition unit configured to acquire a plurality of images captured by the image capturing unit at predetermined time intervals; a generation unit configured to generate a mask filter for masking the region corresponding to the inside of the vehicle in the image captured by the image capturing unit based on an amount of change in the plurality of images acquired by the acquisition unit; and a storage unit configured to store the mask filter generated by the generation unit.

Abstract: A calibration device for calibrating line-of-sight detection processing based on an image of a face of a user includes an instruction unit configured to instruct the user to look at each of a plurality of positions, and an acquisition unit configured to acquire, for each of the plurality of positions, the image of the face of the user looking at each position. The instruction unit is configured to, when giving an instruction to look at a position that is not in front of the user of the plurality of positions without moving the face, give an instruction to look in front of the user each time a position at which the user is instructed to look switches from one position that is not in front of the user to another position that is not in front of the user.