Moving object detection apparatus and moving object detection method

• US 10,192,106 B2
• Filed: 01/09/2015
• Issued: 01/29/2019
• Est. Priority Date: 01/14/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Shigemura, Shusaku
• Primary Examiner(s): Jiang, Zaihan
• Application Number:
  US15/111,141
• Publication Number:
  US 20160335489A1
• Time in Patent Office: 1,481 Days
• Field of Search: 348148
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/8033 for pedestrian protection
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20021 Dividing image into blocks, subimages or windows
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/62 of area, perimeter, diameter or volume
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 10/62 relating to a temporal dimension, e.g. time-based feature extraction; Pattern tracking
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 40/10 Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
• CPC Class Codes: G06V 40/103 Static body considered as a whole, e.g. static pedestrian or occupant recognition
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A moving object detection apparatus that analyzes a photographic image captured by an onboard camera and detects a moving object is provided. The moving object detection apparatus includes an imaging portion that captures the photographic image at a predetermined time interval; a peripheral region detection portion that detects a first moving object of a size smaller than a predetermined size and a second moving object of a size larger than the predetermined size as the moving object in a peripheral region; and a central region detection portion that detects the first moving object as the moving object in a central region. The central region detection portion detects the first moving object and the second moving object as the moving object when the second moving object has been detected in the peripheral region at a previous time.

Claims

1. A moving object detection apparatus that analyzes a photographic image captured by an onboard camera and detects a moving object in the photographic image, comprising:

an imaging portion that captures the photographic image at a predetermined time interval;

a storage portion that stores a first template representing a figure characteristic of a first moving object having a size smaller than a predetermined size, and stores a second template representing a figure characteristic of a second moving object having a size larger than the predetermined size,

a peripheral region detection portion that compares the photographic image with the first template or the second template, and detects the first moving object and the second moving object as the moving object in a peripheral region provided on each of right and left sides in the photographic image; and

a central region detection portion that detects the first moving object as the moving object in a central region provided at a center of the photographic image,

wherein;

the central region detection portion detects the first moving object and the second moving object as the moving object when the second moving object has been detected in the peripheral region of the photographic image obtained at a previous time.

2. The moving object detection apparatus according to claim 1, wherein:

the central region detection portion detects the first moving object and the second moving object as the moving object when at least one of the first moving object and the second moving object has been detected in the central region of the photographic image obtained at the previous time.

3. The moving object detection apparatus according to claim 1, further comprising:

a prediction portion that predicts a detection result of the moving object in the photographic image obtained this time based on a detection result of the moving object in the photographic image obtained at the previous time and on a detection result of the moving object in the photographic image obtained second previous time,

wherein;

the central region detection portion detects the first moving object and the second moving object as the moving object when the prediction portion has predicted that the second moving object is detected in the central region.

4. The moving object detection apparatus according to claim 3, wherein:

the prediction portion predicts whether the second moving object is detected in the central region of the photographic image obtained this time based on a position at which the second moving object has been detected in the peripheral region of the photographic image obtained at the previous time and on a position at which the second moving object has been detected in the photographic image obtained second previous time,

when the second moving object has been detected in the peripheral region of the photographic image obtained at the previous time.

5. The moving object detection apparatus according to claim 3, wherein:

the central region detection portion detects the first moving object while distinguishing a difference in size; and

the prediction portion predicts that the second moving object is detected in the central region of the photographic image obtained this time

when the first moving object of the size larger than the predetermined size has been detected in the central region of the photographic image obtained at the previous time.

6. The moving object detection apparatus according to claim 1, wherein:

the central region detection portion detects the first moving object and the second moving object as the moving object when the photographic image obtained at the previous time is absent.

7. The moving object detection apparatus according to claim 1, further comprising:

a plurality of onboard cameras that capture images of adjacent regions,

wherein;

the imaging portion generates the photographic image by combining the images captured by the plurality of onboard cameras.

8. The moving object detection apparatus according to claim 1, wherein:

the peripheral region detection portion and the central region detection portion detect the moving object except for the first moving object at a lower region provided in a lower part of the photographic image.

9. The moving object detection apparatus according to claim 1, wherein:

the peripheral region detection portion and the central region detection portion detect the moving object except for the second moving object at an upper region provided in an upper part of the photographic image.

10. The moving object detection apparatus according to claim 1, further comprising:

a storage portion that stores a first template representing a figure characteristic of the first moving object and stores a second template representing a figure characteristic of the second moving object,

wherein;

the peripheral region detection portion and the central region detection portion detect the first moving object by detecting a portion matching the first template in the photographic image when the first moving object is detected; and

the peripheral region detection portion and the central region detection portion detect the second moving object by detecting a portion matching the second template in the photographic image when the second moving object is detected.

11. A moving object detection method of analyzing a photographic image captured by an onboard camera and detecting a moving object in the photographic image, comprising:

capturing the photographic image at a predetermined time interval;

setting a central region detection template for a central region and a peripheral region detection template for a peripheral region from a storage portion that stores a first template representing a figure characteristic of a first moving object having a size smaller than a predetermined size and stores a second template representing a figure characteristic of a second moving object having a size larger than the predetermined size;

detecting the first moving object and the second moving object as the moving object through comparison with the first template or the second template, in the peripheral region provided on each of right and left sides of the photographic image;

detecting the first moving object as the moving object through comparison with the first template, in a central region provided at a center of the photographic image; and

storing detection results of the detecting the first moving object and the second moving object in the peripheral region and the detecting the first moving object in the central region,

wherein;

the detecting the first moving object in the central region detects, in addition to the first moving object, the second moving object as the moving object when the second moving object has been detected in the peripheral region of the photographic image obtained at a previous time.

12. A moving object detection apparatus that analyzes a photographic image captured by an onboard camera connected to an imaging portion capturing the photographic image at a predetermined time interval, and detects a moving object in the photographic image, comprising:

a storage portion that stores a first template representing a figure characteristic of a first moving object having a size smaller than a predetermined size, and stores a second template representing a figure characteristic of a second moving object having a size larger than the predetermined size,

a peripheral region detection portion that compares the photographic image with the first template or the second template, and detects the first moving object and the second moving object in a peripheral region provided on each of right and left sides of the photographic image as the moving object; and

a central region detection portion that detects the first moving object in a central region provided at a center of the photographic image as the moving object,

wherein;

the central region detection portion detects the first moving object and the second moving object as the moving object when the second moving object has been detected in the peripheral region of the photographic image obtained at a previous time.

13. The moving object detection apparatus according to claim 12, further comprising:

a prediction portion that predicts a detection result of the moving object in the photographic image obtained this time based on a detection result of the moving object in the photographic image obtained at the previous time and on a detection result of the moving object in the photographic image obtained at a second previous time,

wherein the central region detection portion detects the first moving object and the second moving object as the moving object when the prediction portion has predicted that the second moving object is detected in the central region,

wherein the central region detection portion detects the first moving object while distinguishing a difference in size, and

wherein the prediction portion predicts that the second moving object is detected in the central region of the photographic image obtained this time when the first moving object of the size larger than the predetermined size has been detected in the central region of the photographic image obtained at the previous time.

14. A moving object detection apparatus that analyzes a photographic image captured by an onboard camera and detects a moving object in the photographic image, comprising:

an imaging portion that captures the photographic image at a predetermined time interval;

a storage portion that stores a first template representing a first figure characteristic of a first moving object having a size smaller than a predetermined size, and stores a second template representing a second figure characteristic of a second moving object having a size larger than the predetermined size;

a peripheral region detection portion that is configured to compare the photographic image with the first template and the second template, and detects the first moving object and the second moving object as the moving object in a peripheral region provided on each of right and left sides in the photographic image; and

a central region detection portion that compares the first template with a central region provided at a center of the photographic image,

wherein;

the central region detection portion compares the central region with the first template and the second template in response to the second moving object being detected in the peripheral region of a preceding photographic image obtained at a previous time.