Image processing apparatus and image processing method
First Claim
1. An image processing apparatus for detecting an obstacle existing in front area of a moving object comprising:
- an image input unit configured to pick up input images of the front area of the moving object and input the input images;
a corresponding position calculating unit configured to calculate a corresponding area on the input images corresponding to a focused area in a real space in which the moving object moves;
an image generating unit configured to generate first images by scanning the input images along a horizontal line through the corresponding area and generate two-dimensional second images by arranging the first images in the vertical direction in time series;
a characteristic extracting unit configured to extract characteristic points of a given time on the second image;
a trajectory information generating unit configured to generate trajectory information between the characteristic point at the given time and another characteristic point at different time from the given time near the characteristic point on the second image; and
an obstacle detecting unit configured to determine the characteristic point to belong to the obstacle when the trajectory information satisfies a criterion for the obstacle.
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Abstract
An image processing apparatus calculates a corresponding area on input images corresponding to a focused area on a real space in which a moving object moves, generates first images by scanning the input images along a horizontal line through the corresponding area, generates two-dimensional dynamic x-t images by arranging the first images in the vertical direction in time series, extracts characteristic points on the dynamic x-t image at a time T, generates dynamic trajectory information between the characteristic point at the time T and another characteristic point at different time from the time T near the characteristic point, and determines that the characteristic point belongs to the obstacle when the dynamic trajectory information satisfies the criterion for the obstacle.
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Citations
8 Claims
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1. An image processing apparatus for detecting an obstacle existing in front area of a moving object comprising:
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an image input unit configured to pick up input images of the front area of the moving object and input the input images; a corresponding position calculating unit configured to calculate a corresponding area on the input images corresponding to a focused area in a real space in which the moving object moves; an image generating unit configured to generate first images by scanning the input images along a horizontal line through the corresponding area and generate two-dimensional second images by arranging the first images in the vertical direction in time series; a characteristic extracting unit configured to extract characteristic points of a given time on the second image; a trajectory information generating unit configured to generate trajectory information between the characteristic point at the given time and another characteristic point at different time from the given time near the characteristic point on the second image; and an obstacle detecting unit configured to determine the characteristic point to belong to the obstacle when the trajectory information satisfies a criterion for the obstacle. - View Dependent Claims (2, 3, 4)
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5. An image processing method for detecting an obstacle existing in front area of a moving object comprising:
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picking up input images of a front area of the moving object and inputting the input image; calculating a corresponding area on the input images corresponding to a focused area in a real space in which the moving object moves; generating first images by scanning the input images along a the horizontal line through the corresponding area and generating a two-dimensional second image by arranging the first images in the vertical direction in time series; extracting characteristic points of a given time on the second image; generating trajectory information between the characteristic point at the given time and another characteristic point at different time from the given time near the characteristic point on the second image; and determining the characteristic point to belong to the obstacle when the trajectory information satisfies a criterion for the obstacle. - View Dependent Claims (6, 7, 8)
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Specification