IMAGE PROCESSING APPARATUS, METHOD AND PROGRAM THEREOF
First Claim
1. An image processing apparatus, comprising:
- a feature amount calculating means for calculating a feature amount of pixels within a region of an object detected by a radar, the region including the entire or a portion of the object and being a designated region in an image; and
a feature point extracting means for extracting a feature point for detecting the features of the object from a feature point candidate, which is the pixels within the region having a feature amount equal to or greater than a predetermined threshold value, the feature point being extracted with a higher density as the distance of the object from a vehicle increases.
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Abstract
The performance of detecting the features of an object is to be improved. In one step, among pixels within a ROI, pixels whose feature amount is greater than a predetermined threshold value are extracted as a feature point candidate. In another step, a feature point density parameter is set based on a distance to an object within the ROI. In another steps, the feature points are extracted from the feature point candidates in the descending order of the feature amount, while the feature point candidates, whose distance from the extracted feature points is equal to or smaller than the feature point density parameter, are not extracted as the feature point. In another step, a feature point list representing the feature points extracted from the ROT is output. The present invention can be applied to an in-vehicle obstacle detecting device.
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Citations
8 Claims
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1. An image processing apparatus, comprising:
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a feature amount calculating means for calculating a feature amount of pixels within a region of an object detected by a radar, the region including the entire or a portion of the object and being a designated region in an image; and a feature point extracting means for extracting a feature point for detecting the features of the object from a feature point candidate, which is the pixels within the region having a feature amount equal to or greater than a predetermined threshold value, the feature point being extracted with a higher density as the distance of the object from a vehicle increases. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An image processing method, comprising:
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a feature amount calculating step for calculating a feature amount of pixels within a region of an object detected by a radar, the region including the entire or a portion of the object and being a designated region in an image; and a feature point extracting step for extracting a feature point for detecting the features of the object from a feature point candidate, which is the pixels within the region having a feature amount equal to or greater than a predetermined threshold value, the feature point being extracted with a higher density as the distance of the object from a vehicle increases.
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8. A program for causing a computer to execute a process, the process comprising:
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a feature amount calculating step for calculating a feature amount of pixels within a region of an object detected by a radar, the region including the entire or a portion of the object and being a designated region in an image; and a feature point extracting step for extracting a feature point for detecting the features of the object from a feature point candidate, which is the pixels within the region having a feature amount equal to or greater than a predetermined threshold value, the feature point being extracted with a higher density as the distance of the object from a vehicle increases.
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Specification