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Moving Amount Calculation System and Obstacle Detection System

  • US 20090154770A1
  • Filed: 06/06/2007
  • Published: 06/18/2009
  • Est. Priority Date: 06/06/2006
  • Status: Active Grant
First Claim
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1. A moving amount calculation system characterized by comprising:

  • a camera which is mounted on a moving body and senses an image at a first viewpoint and at a second viewpoint different from the first viewpoint as the moving body moves;

    a moving data measurement unit which measures a moving amount of the moving body from the first viewpoint to the second viewpoint; and

    an arithmetic device which updates, in accordance with the image sensed by said camera, the moving amount measured by said moving data measurement unit,said arithmetic device comprising;

    a predicted image generation unit which generates a second viewpoint predicted image as a predicted image at the second viewpoint based on a first viewpoint image as an image sensed at the first viewpoint by said camera and the moving amount measured by said moving data measurement unit;

    an evaluation value calculation unit which calculates an evaluation value representing coincidence between the second viewpoint predicted image generated by said predicted image generation unit and a second viewpoint image as an image sensed at the second viewpoint by said camera; and

    a moving amount updating unit which updates the moving amount based on the evaluation value calculated by said evaluation value calculation unit, the moving amount including a horizontal component moving amount which is, out of the moving amount measured by said moving data measurement unit, a component on a plane of movement of the moving body in a direction perpendicular to a moving direction of the moving body that moves straight ahead.

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