MOVING STATE ESTIMATING DEVICE

• US 20100226544A1
• Filed: 12/24/2008
• Published: 09/09/2010
• Est. Priority Date: 12/25/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Shiraishi, Tatsuya, Uchida, Naohide
• Granted Patent: US 8,559,674 B2
• Time in Patent Office: Days
• US Class Current: 382/107
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments

Abstract

A moving state estimating device (100) includes a feature point candidate extracting part (10) configured to extract feature point candidates in an image taken at a first time point by an imaging sensor (2) mounted on a vehicle, a positional relation obtaining part (11) configured to obtain a positional relation of an actual position of each feature point candidate relative to the vehicle, a feature point selecting part (12) configured to select a feature point candidate as a feature point based on the positional relation of the feature point candidate, a corresponding point extracting part (13) configured to extract a corresponding point in an image taken by the imaging sensor (2) at a second time point corresponding to the selected feature point, and a moving state estimating part configured to estimate a moving state of the vehicle from the first time point to the second time point based on a coordinate of the selected feature point and a coordinate of the corresponding point.

Claims

1. A moving state estimating device comprising:

a feature point candidate extracting part configured to extract feature point candidates in an image taken at a first time point by an imaging sensor mounted on a moving body;

a positional relation obtaining part configured to obtain a positional relation of an actual position of each feature point candidate relative to the moving body;

a feature point selecting part configured to select a feature point candidate as a feature point based on the positional relation;

a corresponding point extracting part configured to extract a corresponding point in an image taken by the imaging sensor at a second time point corresponding to the selected feature point; and

a moving state estimating part configured to estimate a moving state of the moving body from the first time point to the second time point based on a coordinate of the selected feature point and a coordinate of the corresponding point.

2. A moving state estimating device according to claim 1, wherein the positional relation includes a distance between the actual position of the feature point candidate and the moving body, a direction of the actual position of the feature point candidate as seen from the moving body, or a relative velocity of the actual position of the feature point candidate with respect to the moving body.

3. A moving state estimating device according to claim 1, wherein the feature point selecting part is configured to determine whether the feature point candidate is stationary or not, and to select the feature point from stationary feature point candidates.

4. A moving state estimating device according to claim 1, wherein the feature point selecting part is configured to select feature points so that a distance difference between an actual position of each feature point and the moving body is greater than or equal to a predetermined value.

5. A moving state estimating device according to claim 1, wherein the feature point selecting part is configured to select feature points so that angles between directions of actual positions of each feature point as seen from the moving body are greater than or equal to a predetermined value.