IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND PROGRAM

• US 20090189783A1
• Filed: 01/27/2009
• Published: 07/30/2009
• Est. Priority Date: 01/29/2008
• Status: Abandoned Application

• Current Assignee: Omron Corporation
• Original Assignee: Omron Corporation
• Inventors: Koitabashi, Hiroyoshi
• Application Number:
  US12/360,474
• Publication Number:
  US 20090189783A1
• Time in Patent Office: Days
• US Class Current: 340/937
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/579 from motion

Abstract

An image processing device for performing a process of measuring a distance to a predetermined object using an image imaged by an imaging device attached to a vehicle which moves has a movement detection unit for detecting that the vehicle moved a constant amount from a position where the imaging device imaged a first image, an image acquiring unit for acquiring the first image, and a second image serving as an image at the time of being detected that the vehicle moved a constant amount by the movement detection unit, and a measurement unit for measuring the distance to the object by a movement stereo method using the first image and second image acquired by the image acquiring unit.

Claims

1. An image processing device for performing a process of measuring a distance to a predetermined object using an image imaged by an imaging device attached to a vehicle which moves;

the image processing device comprising;

a movement detection unit for detecting that the vehicle moved a constant amount from a position where the imaging device imaged a first image;

an image acquiring unit for acquiring the first image, and a second image serving as an image at the time of being detected that the vehicle moved a constant amount by the movement detection unit; and

a measurement unit for measuring the distance to the object by a movement stereo method using the first image and second image acquired by the image acquiring unit.

2. The image processing device according to claim 1, wherein the movement detection unit detects that the vehicle moved a constant amount based on a signal from a sensor attached to the vehicle.

3. The image processing device according to claim 2, wherein the signal from the sensor attached to the vehicle is a signal of a vehicle speed pulse.

4. The image processing device according to claim 2, wherein the signal from the sensor attached to the vehicle is a signal representing vehicle speed.

5. The image processing device according to claim 2, wherein the signal from the sensor attached to the vehicle is a signal representing an engine rotation number of the vehicle and a gear selection signal representing a selected gear.

6. The image processing device according to claim 1, wherein the movement detection unit detects that the vehicle moved a constant amount by processing an image imaged by the imaging device.

7. The image processing device according to claim 6, wherein the movement detection unit detects that the vehicle moved a constant amount based on a relationship between an image interval of the image imaged in the past and a movement amount.

8. The image processing device according to claim 6, wherein the movement detection unit detects that the vehicle moved a constant amount by integrating a movement amount sequentially calculated from the imaged image.

9. The image processing device according to claim 1, wherein the image acquiring unit acquires the second image imaged when detected by the movement detection unit that the vehicle moved a constant amount from the position where the first image is imaged.

10. The image processing device according to claim 1, further comprising:

an image storage unit for storing images imaged by the imaging device;

wherein

the image acquiring unit acquires, as the second image, a most recent image of the images stored in the image storage unit when detected by the movement detection unit that the vehicle moved a constant amount from the position where the first image is imaged.

11. The image processing device according to claim 1, wherein the image acquiring unit acquires, as the second image, an image imaged immediately after detected by the movement detection unit that the vehicle moved a constant amount from the position where the first image is imaged.

12. The image processing device according to claim 1, further comprising:

an image storage unit for storing images imaged by the imaging device;

wherein

the image acquiring unit acquires, as the second image, a most recent image of the images stored in the image storage unit at a detection time detected by the movement detection unit that the vehicle moved a constant amount from the position where the first image is imaged, or an image imaged at a time close to the detection time of the images imaged immediately after the detection time.

13. An image processing method for performing a process of measuring a distance to a predetermined object using an image imaged by an imaging device attached to a vehicle which moves;

the image processing method comprising the steps of;

detecting that the vehicle moved a constant amount from a position where the imaging device imaged a first image;

acquiring the first image, and a second image serving as an image at the time of being detected that the vehicle moved a constant amount; and

measuring the distance to the object by a movement stereo method using the acquired first image and second image.

14. A computer readable medium storing a program comprising functionality for causing a computer to perform a process of measuring a distance to a predetermined object using an image imaged by an imaging device attached to a vehicle which moves, wherein the process comprises:

detecting that the vehicle moved a constant amount from a position where the imaging device imaged a first image;

acquiring the first image, and a second image serving as an image at the time of being detected that the vehicle moved a constant amount; and

measuring the distance to the object by a movement stereo method using the acquired first image and second image.