Moving object detection device, moving object detection method, and moving object detection program
First Claim
1. A moving object detection device, detecting, from a plurality of taken images of image-taken objects taken by a plurality of synchronized image pickup means, moving objects existing among the image-taken objects, comprising:
- a distance information generating means, generating distance information in the form of distances to the image-taken objects based on the parallaxes of the plurality of taken images;
a movement information generating means, generating movement information in the form of movements of the moving objects based on the differences of taken images input in time series from at least one of the image pickup means among the plurality of image pickup means;
an object distance setting means, setting, based on the distance information and the movement information, an object distance at which an abovementioned moving object exists;
an object distance image generating means, generating, based on the distance information, an object distance image comprising pixels corresponding to the object distance set by the object distance setting means;
an object region setting means, setting, within the object distance image and in correspondence to at least the object distance, an object region to be subject to the detection of an abovementioned moving object; and
a contour extraction means, extracting a contour from the object region set by the object region setting means and thereby detecting the abovementioned moving object.
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Abstract
A moving object detection device comprising: an object distance setting part, determining the distance to a moving object that moves the most based on a distance image, in which information on distances to image-taken objects are embedded, and a difference image, in which the movements of moving objects are embedded as movement information; an object distance image generating part, generating an object distance image corresponding to the abovementioned distance; and a contour extraction part, extracting a contour inside the object distance image to detect a moving object.
76 Citations
16 Claims
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1. A moving object detection device, detecting, from a plurality of taken images of image-taken objects taken by a plurality of synchronized image pickup means, moving objects existing among the image-taken objects, comprising:
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a distance information generating means, generating distance information in the form of distances to the image-taken objects based on the parallaxes of the plurality of taken images;
a movement information generating means, generating movement information in the form of movements of the moving objects based on the differences of taken images input in time series from at least one of the image pickup means among the plurality of image pickup means;
an object distance setting means, setting, based on the distance information and the movement information, an object distance at which an abovementioned moving object exists;
an object distance image generating means, generating, based on the distance information, an object distance image comprising pixels corresponding to the object distance set by the object distance setting means;
an object region setting means, setting, within the object distance image and in correspondence to at least the object distance, an object region to be subject to the detection of an abovementioned moving object; and
a contour extraction means, extracting a contour from the object region set by the object region setting means and thereby detecting the abovementioned moving object. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A moving object detection method, by which moving objects with movement are detected from among image-taken objects based on distance information, concerning distances to the image-taken objects and generated based on taken images taken by a plurality of synchronized image pickup means, and movement information, generated based on taken images input in time series from at least one of the image pickup means among the plurality of image pickup means, comprising:
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an object distance setting step of setting, based on the distance information and the movement information, an object distance at which an abovementioned moving object exists;
an object distance image generating step of generating, based on the distance information, an object distance image comprising pixels corresponding to the object distance set in the object distance setting step;
an object region setting step of setting, within the object distance image and in correspondence to at least the object distance, an object region to be subject to the detection of an abovementioned moving object; and
a contour extraction step of extracting a contour from the object region set in the object region setting step and thereby detecting the abovementioned moving object.
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9. A moving object detection program, which, in order to detect moving objects with movement from among image-taken objects based on distance information, concerning distances to the image-taken objects and generated based on taken images taken by a plurality of synchronized image pickup means, and movement information, generated based on taken images input in time series from at least one of the image pickup means among the plurality of image pickup means, makes a computer function as:
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an object distance setting means, setting, based on the distance information and the movement information, an object distance at which an abovementioned moving object exists;
an object distance image generating means, generating, based on the distance information, an object distance image comprising pixels corresponding to the object distance set by the object distance setting means;
an object region setting means, setting, within the object distance image and in correspondence to at least the object distance, an object region to be subject to the detection of an abovementioned moving object; and
a contour extraction means, extracting a contour from the object region set by the object region setting means and thereby detecting the abovementioned moving object.
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10. A moving object detection device, detecting, from a plurality of taken images of image-taken objects taken by a plurality of synchronized image pickup means, moving objects existing among the image-taken objects, comprising:
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a distance information generating means, generating distance information in the form of distances to the image-taken objects based on the parallaxes of the plurality of taken images;
a movement information generating means, generating movement information in the form of movements of the moving objects based on the differences of taken images input in time series from at least one of the image pickup means among the plurality of image pickup means;
an object approach judging means, judging, based on the differences of the distance information generated at predetermined time intervals, whether or not above-mentioned moving objects are approaching the image pickup means;
an object distance setting means, setting, based on the distance information and the movement information, an object distance at which an abovementioned moving object exists in the case where the judgment result of the object approach judgment means indicates that abovementioned moving objects are approaching the image pickup means;
an object distance image generating means, generating, based on the distance information, an object distance image comprising pixels corresponding to the object distance set by the object distance setting means;
an object region setting means, setting, within the object distance image and in correspondence to at least the object distance, an object region to be subject to the detection of an abovementioned moving object; and
a contour extraction means, extracting a contour from the object region set by the object region setting means and thereby detecting the abovementioned moving object. - View Dependent Claims (11, 12, 13, 14)
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15. A moving object detection method, by which moving objects with movement are detected from among image-taken objects based on distance information, concerning distances to the image-taken objects and generated based on taken images taken by a plurality of synchronized image pickup means, and movement information, generated based on taken images input in time series from at least one of the image pickup means among the plurality of image pickup means, comprising:
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an object approach judging step of judging, based on the differences of the distance information generated at predetermined time intervals, whether or not above-mentioned moving objects are approaching the image pickup means;
an object distance setting step of setting, based on the distance information and the movement information, an object distance at which an abovementioned moving object exists in the case where the judgment result of the object approach judgment step indicates that abovementioned moving objects are approaching the image pickup means;
an object distance image generating step of generating, based on the distance information, an object distance image comprising pixels corresponding to the object distance set in the object distance setting step;
an object region setting step of setting, within the object distance image and in correspondence to at least the object distance, an object region to be subject to the detection of an abovementioned moving object; and
a contour extraction step of extracting a contour from the object region set in the object region setting step and thereby detecting the abovementioned moving object.
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16. A moving object detection program, which, in order to detect moving objects with movement from among image-taken objects based on distance information, concerning distances to the image-taken objects and generated based on taken images taken by a plurality of synchronized image pickup means, and movement information, generated based on taken images input in time series from at least one of the image pickup means among the plurality of image pickup means, makes a computer function as:
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an object approach judging means, judging, based on the differences of the distance information generated at predetermined time intervals, whether or not above-mentioned moving objects are approaching the image pickup means;
an object distance setting means, setting an object distance at which an abovementioned moving object exists based on the distance information and the movement information in the case where the judgment result of the object approach judgment means indicates that abovementioned moving objects are approaching the image pickup means;
an object distance image generating means, generating, based on the distance information, an object distance image comprising pixels corresponding to the object distance set by the object distance setting means;
an object region setting means, setting, within the object distance image and in correspondence to at least the object distance, an object region to be subject to the detection of an abovementioned moving object; and
a contour extraction means, extracting a contour from the object region set by the object region setting means and thereby detecting the abovementioned moving object.
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Specification