MOBILE OBJECT RECOGNIZING DEVICE, MOBILE OBJECT RECOGNIZING METHOD, AND COMPUTER PROGRAM THEREOF
First Claim
1. A mobile object recognizing device comprising;
- an image-taking means taking images in time series;
a feature point extracting means extracting a feature point of each image taken in time series by the image-taking means;
an optical flow creating means creating an optical flow corresponding to a vector formed by connecting one feature point in one image with another feature point in another image, the connected two feature points being identified to have the same pattern by comparing the feature points with one another between different images; and
a grouping means selecting and grouping the optical flows created by the optical flow creating means which belong to a particular mobile object, wherein each of the selected optical flows is defined as having an extended line intersecting at one focus of expansion within a predetermined error range, and having an equal external ratio of each line segment connecting one of the end points of the optical flow and the focus of expansion within a predetermined error range when the other one of the end points of the optical flow is an externally dividing point on the extended line.
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Accused Products
Abstract
A mobile object recognizing device comprises a camera (2) for taking time-series images, a feature point extracting unit (23) for extracting the feature points of the individual time-series images taken by the camera (2), an optical flow creating unit (24) for comparing the feature points of the time-series images between different images, to create an optical flow joining the feature points having the same pattern, and a grouping operation unit (25) for selecting that optical flow as one belonging to one mobile object, the prolonged line of which intersects with one vanishing point within a predetermined error range and in which the external ratio of a segment joining the other end point and the vanishing point with one end point of the optical flow being the externally dividing point in the extension of the optical flow. The mobile object recognizing device may further comprise an image correcting unit (22) for correcting the image taken by the camera (2), into a transparent diagram in accordance with the characteristics of the lens of the camera (2).
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Citations
10 Claims
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1. A mobile object recognizing device comprising;
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an image-taking means taking images in time series; a feature point extracting means extracting a feature point of each image taken in time series by the image-taking means; an optical flow creating means creating an optical flow corresponding to a vector formed by connecting one feature point in one image with another feature point in another image, the connected two feature points being identified to have the same pattern by comparing the feature points with one another between different images; and a grouping means selecting and grouping the optical flows created by the optical flow creating means which belong to a particular mobile object, wherein each of the selected optical flows is defined as having an extended line intersecting at one focus of expansion within a predetermined error range, and having an equal external ratio of each line segment connecting one of the end points of the optical flow and the focus of expansion within a predetermined error range when the other one of the end points of the optical flow is an externally dividing point on the extended line. - View Dependent Claims (2, 3)
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4. A mobile object recognizing device comprising;
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an image-taking means taking images in time series; a feature point extracting means extracting a feature point of each image taken in time series by the image-taking means; an optical flow creating means creating an optical flow corresponding to a vector formed by connecting one feature point in one image with another feature point in another image, the connected two feature points being identified to have the same pattern by comparing the feature points with one another between different images; a distance detecting means detecting a distance from the image-taking means to at least one feature point extracted by the feature point extracting means; a displacement calculating means calculating a displacement of the feature point in each optical flow based on the distance to the feature point detected by the distance detecting means and the optical flow including the feature point; and an equal displacement point selecting means selecting the feature points having an equal displacement calculated by the displacement calculating means as the feature points belonging to one mobile object. - View Dependent Claims (5, 6, 7)
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8. A mobile object recognizing method comprising;
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an image-taking step inputting images in time series; a feature point extracting step extracting feature point of each image inputted in time series in the image-taking step; an optical flow creating step creating an optical flow corresponding to a vector formed by connecting one feature point in one image with another feature point in another image, the connected two feature points being identified to have the same pattern by comparing the feature points with one another between different images; and a grouping step selecting and grouping the optical flows, wherein each of the selected optical flows is defined as having an extended line intersecting at one focus of expansion within a predetermined error range, and having an equal external ratio of each line segment connecting one of the end points of the optical flow and the focus of expansion within a predetermined error range when the other one of the end points of the optical flow is an externally dividing point on the extended line. - View Dependent Claims (9)
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10. A computer program causing a computer to function as;
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an image-inputting means inputting images in time series from an image-taking means; a feature point extracting means extracting a plurality of feature points of each image taken in time series by the image-inputting means; an optical flow creating means creating an optical flow corresponding to a vector formed by connecting one feature point in one image with another feature point in another image, the connected two feature points being identified to change positions thereof on the image and have the same pattern by comparing the feature points with one another between different images; and a grouping means selecting and grouping the optical flows created by the optical flow creating means which belong to a particular mobile object, wherein each of the selected optical flows is defined as having an extended line intersecting at one focus of expansion within a predetermined error range, and having an equal external ratio of each line segment connecting one of the end points of the optical flow and the focus of expansion within a predetermined error range when the other one of the end points of the optical flow is an externally dividing point on the extended line.
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Specification