Pedestrian detector and pedestrian detecting method
First Claim
1. A pedestrian detector comprising:
- an image pick up unit configured to pick up an image of a scene in front of a host vehicle; and
a controller including;
a characteristic point extractor configured to extract characteristic points from the image which has been picked up by the image pick up unit;
a movement information calculator configured to calculate a velocity at which, and a direction in which, each of pixels representing the respective characteristic points moves in the image, and to output the velocity and the direction as movement information;
a coordinate converter configured to express coordinates of each of the pixels in a coordinate system corresponding to an overhead view representing the image of the scene in front of the host vehicle obtained by coordinate conversion;
an object attribute determinator configured to determine that the characteristic points represent any one of a two-dimensional object or a three-dimensional object, and in a case where it is determined that the characteristic points represent the three-dimensional object, whether or not the three-dimensional object is a moving object, on the basis of the coordinates of each of the pixels in the overhead view, and on the basis of the movement information on each of the pixels; and
a pedestrian determinator configured to determine whether or not the moving object is a pedestrian on the basis of change in the velocity at which the moving object moves in the image in a case where it is determined that the characteristic points represent the moving object.
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Abstract
A pedestrian detecting method including: picking up an image of a scene in front of a vehicle; extracting characteristic points from the picked up image; calculating a velocity at which, and a direction in which, each of pixels representing the respective characteristic points moves in the image; expressing coordinates of each of the pixels in a coordinate system corresponding to an overhead view; determining whether the characteristic points represent a two-dimensional object or a three-dimensional object, and if it is determined that they represent the three-dimensional object, whether or not the three-dimensional object is a moving object, on the basis of the calculated velocity and direction of each of the pixels and the coordinates thereof in the overhead view; and determining whether or not the moving object is a pedestrian on the basis of change in the velocity at which the moving object moves in the image.
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Citations
15 Claims
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1. A pedestrian detector comprising:
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an image pick up unit configured to pick up an image of a scene in front of a host vehicle; and a controller including; a characteristic point extractor configured to extract characteristic points from the image which has been picked up by the image pick up unit; a movement information calculator configured to calculate a velocity at which, and a direction in which, each of pixels representing the respective characteristic points moves in the image, and to output the velocity and the direction as movement information; a coordinate converter configured to express coordinates of each of the pixels in a coordinate system corresponding to an overhead view representing the image of the scene in front of the host vehicle obtained by coordinate conversion; an object attribute determinator configured to determine that the characteristic points represent any one of a two-dimensional object or a three-dimensional object, and in a case where it is determined that the characteristic points represent the three-dimensional object, whether or not the three-dimensional object is a moving object, on the basis of the coordinates of each of the pixels in the overhead view, and on the basis of the movement information on each of the pixels; and a pedestrian determinator configured to determine whether or not the moving object is a pedestrian on the basis of change in the velocity at which the moving object moves in the image in a case where it is determined that the characteristic points represent the moving object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A pedestrian detecting method comprising:
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picking up an image of a scene in front of a host vehicle; extracting characteristic points from the image which has been picked up; calculating a velocity at which, and a direction in which, each of pixels representing the respective characteristic points moves in the image, and outputting the velocity and the direction as movement information; expressing coordinates of each of the pixels in a coordinate system corresponding to an overhead view representing the image of the scene in front of the host vehicle obtained by coordinate conversion; determining whether the characteristic points represent any one of a two-dimensional object and a three-dimensional object, and in a case where it is determined that the characteristic points represent the three-dimensional object, whether or not the three-dimensional object is a moving object, on the basis of the coordinates of each of the pixels in the overhead view, and on the basis of the movement information on each of the pixels; and determining whether or not the moving object is a pedestrian on the basis of change in the velocity at which the moving object moves in the image in a case where it is determined that the characteristic points represent the moving object.
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Specification