Object detection apparatus, distance measuring apparatus and object detection method
First Claim
1. An object detection apparatus for detecting an object on a reference plane, wherein relative positions of the object and the object detection apparatus change on the reference plane, the apparatus comprising:
- an image pickup device, which captures an image in a predetermined image pickup area, thereby obtaining image data;
an image cutting section, wherein the image cutting section cuts an image received by the image pickup device such that the image pickup device receives an image that is divided into a reference plane image and an object image by a predetermined boundary, wherein the reference plane image contains the reference plane, and wherein the object image contains the object and does not contain the reference plane;
a computer, wherein, from image data obtained by the image pickup device, the computer obtains reference plane image data corresponding to the reference plane image and object image data corresponding to the object image, and wherein the computer computes relative positions of the object and the object detection apparatus on the reference plane based on an optical flow obtained from the reference plane image data and an optical flow obtained from the object image data.
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Abstract
A mobile unit moves on a reference plane. The mobile unit has an object detection apparatus for detecting an object on the reference plane. The object detection apparatus includes a camera, a mirror, and a computer. The mirror cuts an image received by the camera such that the camera receives an image that is divided into a reference plane image and an object image. The reference plane image contains the reference plane. The object image contains the object and does not contain the reference plane. Therefore, the distance measuring apparatus can easily separate the region including the object and the region including no object, and accurately detect the distance to the object.
19 Citations
20 Claims
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1. An object detection apparatus for detecting an object on a reference plane, wherein relative positions of the object and the object detection apparatus change on the reference plane, the apparatus comprising:
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an image pickup device, which captures an image in a predetermined image pickup area, thereby obtaining image data;
an image cutting section, wherein the image cutting section cuts an image received by the image pickup device such that the image pickup device receives an image that is divided into a reference plane image and an object image by a predetermined boundary, wherein the reference plane image contains the reference plane, and wherein the object image contains the object and does not contain the reference plane;
a computer, wherein, from image data obtained by the image pickup device, the computer obtains reference plane image data corresponding to the reference plane image and object image data corresponding to the object image, and wherein the computer computes relative positions of the object and the object detection apparatus on the reference plane based on an optical flow obtained from the reference plane image data and an optical flow obtained from the object image data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A distance measuring apparatus, wherein the apparatus is mounted on a mobile unit that moves on a reference plane, and measures a distance from the mobile unit to an object, the apparatus comprising:
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an image acquisition section, wherein the image acquisition section obtains a reference plane image and an object image, wherein the reference plane image contains the reference plane, and wherein the object image contains the object and does not contain the reference plane;
a movement amount computation section, wherein the movement amount computation section computes an amount of movement of the mobile unit based on an optical flow obtained from the reference plane image; and
a distance computation section, wherein the distance computation section computes a distance from the mobile unit to the object based on an optical flow obtained from the object image and the amount of movement of the mobile unit computed by the movement amount computation section. - View Dependent Claims (10, 11, 12, 13, 14)
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15. An object detection method for detecting an object on a reference plane using an image pickup device, wherein relative positions of the object and an object detection apparatus change on the reference plane, the method comprising:
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cutting an image received by the image pickup device such that the image pickup device receives an image that is divided into a reference plane image and an object image by a predetermined boundary, wherein the reference plane image contains the reference plane, and wherein the object image contains the object and does not contain the reference plane;
obtaining reference plane image data corresponding to the reference plane image and object image data corresponding to the object image from image data obtained by the image pickup device;
computing relative positions of the object and the object detection apparatus on the reference plane based on an optical flow obtained from the reference plane image data and an optical flow obtained from the object image data. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification