Object Detection Apparatus, Method and Program
First Claim
1. An object detection apparatus that detects an object from an image obtained by taking a picture of a road before a vehicle in the direction of travel, the object detection apparatus comprising:
- a camera unit that captures and inputs the image of the road before the vehicle;
a dictionary modeling the object;
a search unit that searches the image with a search window;
a histogram production unit that produces a histogram by comparing the image in the search window with the dictionary and counting a detection frequency in a direction parallel to a road plane; and
a detection unit that detects the object by detecting a unimodal distribution from the histogram.
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Accused Products
Abstract
An object detection apparatus for detecting an object from an image obtained by taking a front view picture of a road in a traveling direction of a vehicle includes a camera unit for taking the front view picture of the road and inputting the image; a dictionary modeling the object; a search unit for searching the image with a search window; a histogram production unit for producing a histogram by comparing the image in the search window with the dictionary and counting a detection frequency in a direction parallel to a road plane; and a detection unit for detecting the detection object by detecting a unimodal distribution from the histogram.
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Citations
14 Claims
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1. An object detection apparatus that detects an object from an image obtained by taking a picture of a road before a vehicle in the direction of travel, the object detection apparatus comprising:
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a camera unit that captures and inputs the image of the road before the vehicle; a dictionary modeling the object; a search unit that searches the image with a search window; a histogram production unit that produces a histogram by comparing the image in the search window with the dictionary and counting a detection frequency in a direction parallel to a road plane; and a detection unit that detects the object by detecting a unimodal distribution from the histogram. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An object detecting method that detects an object from an image acquired by taking a picture of a road before a vehicle in the direction of travel, the method comprising:
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acquiring an image of the road before the vehicle in the direction of travel and inputting the image; searching the acquired image with a search window; producing a histogram by comparing the image in the search window with a dictionary modeling the object and counting a detection frequency in a direction parallel to a road plane; and detecting the object by detecting a unimodal distribution from the histogram.
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13. (canceled)
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14. A program storage device comprising;
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a recording medium that is readable by an object detection apparatus for object detection that detects an object from an image acquired by taking a picture of a road before a vehicle in the direction of travel; and a program code that is stored on the recording medium, and allows the object detection apparatus to function as; a search unit that searches the image acquired by taking the front view picture of the road with a search window; a histogram production unit that produces a histogram by comparing the image in the search window with a dictionary modeling the detection object and counting a detection frequency in a direction parallel to a road plane; and a detection unit that detects the detection object by detecting a unimodal distribution from the histogram.
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Specification