Image processing apparatus

• US 20050013488A1
• Filed: 07/26/2002
• Published: 01/20/2005
• Est. Priority Date: 07/26/2002
• Status: Active Grant

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Hashimoto, Manabu, Hayashi, Kentaro, Sumi, Kazuhiko
• Granted Patent: US 7,142,694 B2
• Time in Patent Office: Days
• US Class Current: 382/216
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 40/103 Static body considered as a whole, e.g. static pedestrian or occupant recognition

Abstract

An image processor includes an imaging unit that captures an image of a target area, a face region extraction unit that extracts a face region, which corresponds to a face of a person, from the image captured by the imaging unit, a distance estimation unit that estimates a distance from the imaging unit to each position of the image captured by the imaging unit, a distance distribution calculation unit that sets up a distance estimation area below the face region by a predetermined distance and calculates distance distribution from the imaging unit in the distance estimation area, using the distance estimated by the distance estimation unit, and a wheelchair presence determination unit that determines whether a person corresponding to the face region extracted is sitting in a wheelchair, by comparing the distance from the imaging unit of the face region estimated by the distance estimation unit with the distance distribution in the distance estimation area.

Claims

1. an image processor comprising:

an imaging unit that captures an image of a target area;

a face region extraction unit that extracts a face region, which corresponds to a face of a person, from the image captured by the imaging unit;

a distance estimation unit that estimates distance from the imaging unit to each position of the image captured by the imaging unit;

a distance distribution calculation unit that sets up a distance estimation area, in the image captured, below the face region by a predetermined distance and calculates distance distribution from the imaging unit in the distance estimation area, using the distance estimated by the distance estimation unit; and

a wheelchair presence determination unit that determines whether a person corresponding to the face region extracted is sitting in a wheelchair, by comparing the distance from the imaging unit of the face region estimated by the distance estimation unit with the distance distribution in the distance estimation area.

2. The image processor according to claim 1, further comprising a change area detection unit that generates a differential image of an image captured by the imaging unit, and a background images which is an image of the target area when there is no one present in the target area, and extracts a change area, which corresponds to an area where there is a change, from the differential image, wherein the face region extraction unit extracts a face region from the change area extracted by the change area detection unit.

3. The image processor according to claim 1, wherein the distance estimation unit is a scanning laser range finder.

4. The image processor according to claim 3, further comprising a change area detection unit that generates a differential image of an image captured by the imaging unit, and a background image, which is an image of the target area when there is no one present in the target area, and extracts a change area, which corresponds to an area where there is a change, from the differential image, wherein the face region extraction unit extracts a face region from the change area extracted by the change area detection unit.

5. An image processor comprising:

a first imaging unit that captures an image of in a target area;

a second imaging unit and a third imaging unit which capture respective images of the target area, wherein the second imaging unit is spaced horizontally from the third imaging unit by a predetermined distance;

a face region extraction unit that extracts a face region, which corresponds to a face of a person, from the image captured by the first imaging unit;

a stereo calculation unit that estimates a distance from the first imaging unit to each position of the image captured by the first imaging unit by a stereo method, based on the respective images captured by the second imaging unit and the third imaging unit;

a distance distribution calculation unit that sets up a distance estimation area below the human face region by a predetermined distance and calculates distance distribution from the first imaging unit in the distance estimation area, using the distance estimated by the stereo calculation unit; and

a wheelchair presence determination unit that determines whether a person having the face region is sitting in a wheelchair, by comparing the distance from the first imaging unit of the face region estimated by the stereo calculation unit with the distance distribution in the distance estimation area.

6. The image processor according to claim 5, further comprising a change area detection unit that generates a differential image of an image captured by the imaging unit, and a background image, which is an image of the target area when there is no one present in the target area, and extracts a change area, which corresponds to an area where there is a change, from the differential image, wherein the face region extraction unit extracts a face region from the change area extracted by the change area detection unit.

7. An image processor comprising:

a first imaging unit that captures an image of a target area;

a second imaging unit that captures an image of the target area, wherein the second imaging unit is spaced horizontally from the first imaging unit by a predetermined distance;

a face region extraction unit that extracts a face region, which corresponds to a face of a person, from the image captured by the first imaging unit;

a stereo calculation unit that estimates a distance from the first imaging unit to each position of the image captured by the first imaging unit by a stereo method, based on the respective images captured by the first imaging unit and the second imaging unit;

a distance distribution calculation unit that sets up a distance estimation area below the human face region by a predetermined distance and calculates distance distribution from the first imaging unit in the distance estimation area, using the distance estimated by the stereo calculation unit; and

a wheelchair presence determination unit that determines whether a person having the face region is sitting in a wheelchair, by comparing the distance from the first imaging unit of the face region estimated by the stereo calculation unit with the distance distribution in the distance estimation area.

8. The image processor according to claim 7, further comprising a change area detection unit that generates a differential image of an image captured by the imaging unit, and a background image, which is an image of the target area when there is no one present in the target area, and extracts a change area, which corresponds to an area where there is a change, from the differential image, wherein the face region extraction unit extracts a face region from the change area extracted by the change area detection unit.