PERIPHERY MONITORING DEVICE AND PERIPHERY MONITORING METHOD
First Claim
1. A periphery monitoring device loaded in a moving object and for monitoring a periphery of the moving object, comprising:
- image acquiring section which acquires image data in the periphery of the moving object in a time-series manner;
moving information calculating means which sets plural measurement points in each of the image data acquired by the image acquiring section to calculate moving information at each of the measurement points;
position information acquiring section which acquires position information of respective positions in the periphery of the moving object in a three-dimensional real space;
flow calculating section which calculates three-dimensional optical flows of the respective measurement points, based on the moving information calculated by the moving information calculating section and the position information acquired by the position information acquiring section; and
collision determining section which determines whether or not an object present in the periphery of the moving object is a collidable object having a possibility of collision against the moving object in a three-dimensional virtual space, based on the three-dimensional optical flows calculated by the flow calculating section.
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Accused Products
Abstract
A flow calculating section 50 calculates a three-dimensional optical flow at each of measurement points, based on moving information of the respective measurement points calculated by a moving information calculating section 30, and position information acquired by a position information acquiring section 40. A collision determining section 60 determines whether or not an object present in the periphery of a moving object is a collidable object having a possibility of collision against the moving object, based on the three-dimensional optical flows calculated by the flow calculating section 50. An alert controlling section 70 alerts a passenger of a determination result.
24 Citations
19 Claims
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1. A periphery monitoring device loaded in a moving object and for monitoring a periphery of the moving object, comprising:
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image acquiring section which acquires image data in the periphery of the moving object in a time-series manner; moving information calculating means which sets plural measurement points in each of the image data acquired by the image acquiring section to calculate moving information at each of the measurement points; position information acquiring section which acquires position information of respective positions in the periphery of the moving object in a three-dimensional real space; flow calculating section which calculates three-dimensional optical flows of the respective measurement points, based on the moving information calculated by the moving information calculating section and the position information acquired by the position information acquiring section; and collision determining section which determines whether or not an object present in the periphery of the moving object is a collidable object having a possibility of collision against the moving object in a three-dimensional virtual space, based on the three-dimensional optical flows calculated by the flow calculating section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A periphery monitoring method of monitoring a periphery of a moving object, comprising:
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an image acquiring step of acquiring image data in the periphery of the moving object in a time-series manner; a moving information calculating step of calculating moving information of an object included in the image data acquired in the image acquiring step; a position information acquiring step of acquiring position information of the object in a three-dimensional real space; a flow calculating step of calculating three-dimensional optical flows, based on the moving information calculated in the moving information calculating step and the position information acquired in the position information acquiring step; and a collision determining step of determining whether or not the object is a collidable object having a possibility of collision against the moving object in a three-dimensional virtual space, based on the three-dimensional optical flows calculated in the flow calculating step.
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Specification