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road surface point selection
Vertaling van "road surface point selection" in Chinees
述路面点选择
the road surface point selection unit selects, from among the combinations of the two points selected from the points not less than three, multiple such combinations that a distance between the two points is equal to or above a second threshold.
所述路面点选择单元从选自不少于三个的点的两点组合中选择两个点之间的距离等于或大于第二阈值的多个组合。
The road surface point selection unit 27 selects three or more points from among points in an image area judged to be the road surface area by the road surface judgment unit 26 in the current image.
所述路面点选择单元27从当前图像中由路面判断单元26判断为路面区域的图像区域中的多个点中选择三个或多个点。
Next, at step S64, the road surface point selection unit 27 judges, for one of the combinations of two points obtained from among the multiple road surface points extracted at step S62, whether the two points are away from each other by the distance-between-two-points threshold th2 or more. If the points of the combination are away from each other by the distance-between-two-points threshold th2 or more, the flow proceeds to step S65. On the other hand, if the distance between the points of the combination is shorter than the distance-between-two-points threshold th2, this combination is discarded, and the judgment is performed again for another combination.
接下来，在步骤S64中，所述路面点选择单元27为从步骤S62中提取的多个路面点中获取的其中一个两点组合判断两个点相距的距离是否为两点间距阈值th2或以上。如果组合的点相距的距离为两点间距阈值th2或以上，流程进入步骤S65。另一方面，如果组合的点相距的距离小于两点间距阈值th2，丢弃该组合，对另一个组合再次进行判断。
Next, at step S66, the road surface point selection unit 27 judges whether or not the index m is equal to or larger than a predetermined number M. If the index m is equal to or larger than the predetermined number M, the flow proceeds to step S68. On the other hand, if the index m is smaller than the predetermined number M, the index m is increased by one at step S67, and the flow returns to step S64 to judge, for another combination, whether or not the points of the combination are away from each other by the distance-between-two-points threshold th2 or more.
接下来，在步骤S66中，所述路面点选择单元27判断指数m是否等于或大于预定数M。如果指数m等于或大于预定数M，流程进入步骤S68。另一方面，如果指数m小于预定数M，在步骤S67中将指数m加一，流程返回到步骤S64，以对另一个组合判断组合的点相距的距离是否为两点间距阈值th2或以上。
Next, at step S65, the road surface point selection unit 27 stores information about the two points judged to be away from each other by the distance-between-two-points threshold th2 or more at step S64 and the value of the current index m in a predetermined work area of the RAM, associating them with each other.
接下来，在步骤S65中，所述路面点选择单元27将在步骤S64中被判断为相距两点间距阈值th2或以上的两个点的有关信息，以及当前指数m的值存储在RAM的预定工作区内，将其互相关联。
Next, at step S63, the road surface point selection unit 27 sets the index m to 1 and stores it in a predetermined work area in the RAM. This index m is an index indicating the number of combinations of two points.
接下来，在步骤S63中，所述路面点选择单元27将指数m设为1，并将其存储在RAM的预定工作区内。该指数m表示两点组合的数量。
The camera is provided on a vehicle to obtain an image of surroundings of the vehicle. The motion vector calculation unit is configured to determine motion vectors among the multiple images obtained by the camera. The road surface point selection unit is configured to select points not less than three on a road surface in a predetermined image among the multiple images. The road surface point selection unit is further configured to select multiple combinations of two points from among the points not less than three on the road surface.
所述摄像机设于车辆上，以获取车辆周围的图像。所述运动矢量计算单元用于确定摄像机获取的多个图像中的运动矢量。所述路面点选择单元用于在多个图像中的预定图像内的路面上选择不少于三个的点。所述路面点选择单元进一步用于从路面上不少于三个的点中选择多个两点组合。
the road surface point selection unit selects multiple points that are points on the road surface within the predetermined image as well as being away from the focus-of-expansion coordinates obtained from the multiple motion 10 vectors by a distance equal to or above a first threshold.
所述路面点选择单元选择属于预定图像内的路面上的点的多个点，以及与从多个运动矢量中获取的延伸焦点坐标之间的距离等于或大于第一阈值的多个点。
At step S61, the road surface judgment unit 26 judges a road surface area in an image pickup screen of the camera 11. Next, at step S62, the road surface point selection unit 27 selects multiple points that are away from the current focus of expansion FOE0 (x0, y0) (from FOE1 if the current focus of expansion FOE0 corresponds to the target focus of expansion FOE1.) by the FOE distance threshold th1 or more, from among points in an image area corresponding to points on the road surface, using the equation (26a) or (26b).
在步骤S61中，所述路面判断单元26判断摄像机11的图像拾取屏幕中的路面区域。接下来，在步骤S62中，所述路面点选择单元27利用方程（26a）或（26b）在与路面上的点对应的图像区域中的点中选择与当前延伸焦点FOE0 （x0， y0）（如果当前延伸焦点FOE0与目标延伸焦点FOE1对应，则为FOE1）相距的距离为FOE距离阈值th1或以上的多个点。
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