Moving Amount Calculation System and Obstacle Detection System
First Claim
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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Abstract
An arithmetic device (400) calculates a moving amount based on an image sensed before movement and an image sensed after movement. The arithmetic device (400) generates a difference image with minimum noise using the calculated moving amount. The arithmetic device (400) removes noise from the difference image by performing image processing of the difference image. The arithmetic device (400) determines based on the size of a binarized region in a binarized difference image whether an obstacle exists. This makes it possible to accurately calculate the moving amount and accurately determine whether an obstacle exists.
13 Citations
35 Claims
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1. A moving amount calculation system characterized by comprising:
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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. - View Dependent Claims (2, 3)
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4. An obstacle detection system characterized by comprising:
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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 determines in accordance with the image sensed by said camera whether an obstacle exists, 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 a first 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; a moving amount updating unit which updates the moving amount based on the first 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; and an obstacle detection unit which determines based on the second viewpoint predicted image generated by said predicted image generation unit and the second viewpoint image sensed at the second viewpoint by said camera whether an obstacle exists. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11)
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12. A moving amount calculation method characterized by comprising the steps of:
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causing a camera mounted on a moving body to sense an image at a first viewpoint and causing the camera to sense an image at a second viewpoint different from the first viewpoint after movement of the moving body; measuring a moving amount of the moving body from the first viewpoint to the second viewpoint; generating a second viewpoint predicted image as a predicted image at the second viewpoint based on the measured moving amount and a first viewpoint image as an image sensed at the first viewpoint; calculating an evaluation value representing coincidence between the second viewpoint predicted image and a second viewpoint image as an image sensed at the second viewpoint; and updating the moving amount based on the evaluation value, the moving amount including a horizontal component moving amount which is, out of the measured moving amount, 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. - View Dependent Claims (13, 14)
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15. An obstacle detection method characterized by comprising the steps of:
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causing a camera mounted on a moving body to sense an image at a first viewpoint and causing the camera to sense an image at a second viewpoint different from the first viewpoint after movement of the moving body; measuring a moving amount of the moving body from the first viewpoint to the second viewpoint; generating a second viewpoint predicted image as a predicted image at the second viewpoint based on the measured moving amount and a first viewpoint image as an image sensed at the first viewpoint; calculating a first evaluation value representing coincidence between the second viewpoint predicted image and a second viewpoint image as an image sensed at the second viewpoint; updating the moving amount based on the first evaluation value, the moving amount including a horizontal component moving amount which is, out of the measured moving amount, 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; and determining based on the second viewpoint predicted image and the second viewpoint image whether an obstacle exists. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23)
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24. A program which causes a computer to execute the steps of:
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generating a second viewpoint predicted image as a predicted image at a second viewpoint based on a first viewpoint image as an image sensed at a first viewpoint by a camera mounted on a moving body and a moving amount of the moving body from the first viewpoint to the second viewpoint; calculating an evaluation value representing coincidence between the second viewpoint predicted image and a second viewpoint image as an image sensed at the second viewpoint by the camera; and updating the moving amount based on the evaluation value, the moving amount including a horizontal component moving amount which is, out of the moving amount of the moving body, 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. - View Dependent Claims (25, 26)
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27. A program which causes a computer to execute the steps of:
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generating a second viewpoint predicted image as a predicted image at a second viewpoint based on a first viewpoint image as an image sensed at a first viewpoint by a camera mounted on a moving body and a moving amount of the moving body from the first viewpoint to the second viewpoint; calculating a first evaluation value representing coincidence between the second viewpoint predicted image and a second viewpoint image as an image sensed at the second viewpoint by the camera; updating the moving amount based on the first evaluation value, the moving amount including a horizontal component moving amount which is, out of the moving amount of the moving body, 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; and determining based on the second viewpoint predicted image and the second viewpoint image whether an obstacle exists. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35)
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Specification