PERIPHERY MONITORING APPARATUS
First Claim
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1. A periphery monitoring apparatus for a vehicle, comprising:
- a camera for capturing images of a periphery of the vehicle;
a traveling/not-traveling detection unit for detecting whether the vehicle is traveling or is stopping;
an image storage unit configured to store, when the vehicle stops, an image the vehicle prior to the stopping of the vehicle, the image stored as a pre-stop image, andan obstacle detection unit that detects an obstacle on the periphery of the vehicle based on a difference between a current image captured by the camera and the pre-stop image during a time period in which the traveling/not-traveling detection unit detects that the vehicle is stopping.
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Abstract
A vehicle periphery monitoring apparatus detects a three-dimensional object or obstacle even through a vehicle is stopped. When is stopping or parking, a processor controls operation to store a bird'"'"'s-eye image obtained by viewpoint conversion unit of a captured image, which is captured by a rear camera immediately before the vehicle parks or stops. Thereafter, the obstacle is detected based on a difference between image portions corresponding to a same captured region in a bird'"'"'s-eye image of a captured image obtained for each time period, and in the stored bird'"'"'s-eye image.
14 Citations
20 Claims
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1. A periphery monitoring apparatus for a vehicle, comprising:
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a camera for capturing images of a periphery of the vehicle; a traveling/not-traveling detection unit for detecting whether the vehicle is traveling or is stopping; an image storage unit configured to store, when the vehicle stops, an image the vehicle prior to the stopping of the vehicle, the image stored as a pre-stop image, and an obstacle detection unit that detects an obstacle on the periphery of the vehicle based on a difference between a current image captured by the camera and the pre-stop image during a time period in which the traveling/not-traveling detection unit detects that the vehicle is stopping. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An obstacle detection method for detecting an obstacle near a vehicle comprising the steps of:
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a capturing step in which a periphery of the vehicle is captured by a camera; a traveling/not-traveling detecting step for detecting whether the vehicle is traveling or stopping; an image storing step in which when the vehicle stops, an image of the vehicle prior to stopping is captured and stored as a pre-stop image; and an obstacle detecting step for detecting, during a time period in which it is detected that the vehicle is stopping, the obstacle on the periphery of the vehicle based on a difference between a current image and the stored pre-stop image. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A computer-readable medium having computer-readable content representing a computer program for a vehicle capture system having a vehicle camera configured to capture a periphery of a vehicle, the computer program causing the computer to perform that acts of:
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providing a traveling/not-traveling detection unit for detecting whether the vehicle is traveling or stopping; providing an image storage unit in which when a stop of the vehicle is detected, an image captured before the vehicle is stopped is stored as a pre-stop image; and providing an obstacle detection unit for detecting, during a time period in which the traveling/not-traveling detection unit detects that the vehicle is stopping, an obstacle on the periphery of the vehicle based on a difference between a current image and the pre-stop image. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification