System, method, and program for detecting approach to object
First Claim
1. A system for detecting approach to an object based on time-series images of a surrounding environment, comprising:
- an optical flow calculating section for calculating an optical flow based on at least two time-series images;
a first adding section for calculating an added value for detecting approach, by adding values corresponding to data of the optical flow assigned to a first predetermined area defined on the images, where a predetermined filter function is used in the adding calculation;
a second adding section for calculating an added value for detecting vibration, by adding values corresponding to data of the optical flow assigned to a second predetermined area defined on the images, where said filter function is used in the adding calculation; and
, a situation determining section for determining that approach to the object has occurred when a difference between the added values for detecting approach and vibration exceeds a predetermined threshold value.
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Accused Products
Abstract
A system for accurately detecting approach to an object by performing simple processing. The system comprises an optical flow calculating section for calculating an optical flow based on at least two time-series images; a first adding section for calculating an added value for detecting approach, by adding values corresponding to data of the optical flow assigned to a first predetermined area defined on the images, where a predetermined filter function is used in the adding calculation; a second adding section for calculating an added value for detecting vibration, by adding values corresponding to data of the optical flow assigned to a second predetermined area defined on the images, where said filter function is used in the adding calculation; and, a situation determining section for determining that approach to the object has occurred when a difference between the added values for detecting approach and vibration exceeds a predetermined threshold value.
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Citations
15 Claims
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1. A system for detecting approach to an object based on time-series images of a surrounding environment, comprising:
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an optical flow calculating section for calculating an optical flow based on at least two time-series images;
a first adding section for calculating an added value for detecting approach, by adding values corresponding to data of the optical flow assigned to a first predetermined area defined on the images, where a predetermined filter function is used in the adding calculation;
a second adding section for calculating an added value for detecting vibration, by adding values corresponding to data of the optical flow assigned to a second predetermined area defined on the images, where said filter function is used in the adding calculation; and
,a situation determining section for determining that approach to the object has occurred when a difference between the added values for detecting approach and vibration exceeds a predetermined threshold value. - View Dependent Claims (2, 3, 4, 5)
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6. A method of detecting approach to an object based on time-series images of a surrounding environment, comprising:
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an optical flow calculating step for calculating an optical flow based on at least two time-series images;
a first adding step for calculating an added value for detecting approach, by adding values corresponding to data of the optical flow assigned to a first predetermined area defined on the images, where a predetermined filter function is used in the adding calculation;
a second adding step for calculating an added value for detecting vibration, by adding values corresponding to data of the optical flow assigned to a second predetermined area defined on the images, where said filter function is used in the adding calculation; and
,a situation determining step for determining that approach to the object has occurred when a difference between the added values for detecting approach and vibration exceeds a predetermined threshold value. - View Dependent Claims (7, 8, 9, 10)
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11. A program for making a computer execute an operation for detecting approach to an object based on time-series images of a surrounding environment, the operation comprising:
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an optical flow calculating step for calculating an optical flow based on at least two time-series images;
a first adding step for calculating an added value for detecting approach, by adding values corresponding to data of the optical flow assigned to a first predetermined area defined on the images, where a predetermined filter function is used in the adding calculation;
a second adding step for calculating an added value for detecting vibration, by adding values corresponding to data of the optical flow assigned to a second predetermined area defined on the images, where said filter function is used in the adding calculation; and
,a situation determining step for determining that approach to the object has occurred when a difference between the added values for detecting approach and vibration exceeds a predetermined threshold value. - View Dependent Claims (12, 13, 14, 15)
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Specification