MOVING OBJECT DETECTION APPARATUS AND MOVING OBJECT DETECTION METHOD
First Claim
1. An apparatus for detecting a moving object, comprising:
- an image input unit that inputs a camera image taken by an on-vehicle camera;
a motion vector generation unit that processes the image from the image input unit to generate motion vectors of a plurality of points P in the image;
an estimation unit that estimates rotational components (Rx, Ry, Rz) of vehicle movement parameters as being equal to the inclination from each point P to a vanishing point when the inclination of the motion vector of each point P is corrected by the rotational components (Rx, Ry, Rz) of the vehicle movement parameters; and
a determination unit that corrects the inclination of the motion vector of a given point Q in the image by using the rotational components (Rx, Ry, Rz) of the vehicle movement parameters, compares the corrected inclination of the motion vector and inclination of a straight line connecting the given point Q and vanishing point, and detects the existence of a moving object that moves in a direction different from the vehicle movement direction when the coincidence degree between the inclinations is low, while detects the existence of a stationary object or a moving object that radially moves toward the vanishing point when the coincidence degree of the inclinations is high.
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Abstract
An apparatus for detecting a moving object includes: an image input unit that inputs a camera image; a motion vector generation unit that generates motion vectors of a plurality of points P in the image; an estimation unit that estimates rotational components of vehicle movement parameters as being equal to the inclination from each point P to a vanishing point when the inclination of the motion vector of each point P is corrected by the rotational components; and a determination unit that corrects the inclination of the motion vector of a given point Q in the image, and detects the existence of a moving object that moves in a direction different from the vehicle movement direction when the coincidence degree between the inclinations is low, while detects the existence of an object that radially moves toward the vanishing point when the coincidence degree of the inclinations is high.
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Citations
22 Claims
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1. An apparatus for detecting a moving object, comprising:
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an image input unit that inputs a camera image taken by an on-vehicle camera; a motion vector generation unit that processes the image from the image input unit to generate motion vectors of a plurality of points P in the image; an estimation unit that estimates rotational components (Rx, Ry, Rz) of vehicle movement parameters as being equal to the inclination from each point P to a vanishing point when the inclination of the motion vector of each point P is corrected by the rotational components (Rx, Ry, Rz) of the vehicle movement parameters; and a determination unit that corrects the inclination of the motion vector of a given point Q in the image by using the rotational components (Rx, Ry, Rz) of the vehicle movement parameters, compares the corrected inclination of the motion vector and inclination of a straight line connecting the given point Q and vanishing point, and detects the existence of a moving object that moves in a direction different from the vehicle movement direction when the coincidence degree between the inclinations is low, while detects the existence of a stationary object or a moving object that radially moves toward the vanishing point when the coincidence degree of the inclinations is high. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus for detecting a moving object, comprising:
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an image input unit that inputs a camera image taken by an on-vehicle camera; a motion vector generation unit that processes the image from the image input unit to generate a motion vector of the image; an estimation unit that calculates motion vectors of a plurality of points P in the image and a vanishing point at which extended motion vectors obtained by extending the motion vectors converge, and estimates rotational components (Rx, Ry, Rz) and a translational component as vehicle movement parameters based on the motion vectors and the vanishing point; and a determination unit that sets an estimated distance weighting coefficient z0 that associates the road surface with camera viewing angle, calculates an estimated vehicle translational component from the average of a translational component obtained by multiplying the estimated translational component by the coefficient z0, predicts a motion vector of a given point Q in the image from the rotational components (Rx, Ry, Rz), translational component, and coefficient z0, compares the predicted motion vector and an actual measurement motion vector, and determines the existence of a moving object when the coincidence degree between the predicted motion vector and actual measurement motion vector is low. - View Dependent Claims (9)
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10. A method for detecting a moving object, comprising:
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inputting a camera image taken by an on-vehicle camera; processing the image to generate motion vectors of a plurality of points P in the image; estimating rotational components (Rx, Ry, Rz) of vehicle movement parameters as being equal to the inclination from each point P to a vanishing point when the inclination of the motion vector of each point P is corrected by the rotational components (Rx, Ry, Rz) of the vehicle movement parameters; and correcting the inclination of the motion vector of a given point Q in the image by using the rotational components (Rx, Ry, Rz) of the vehicle movement parameters, comparing the corrected inclination of the motion vector and inclination of a straight line connecting the given point Q and the vanishing point, and detecting the existence of a moving object that moves in a direction different from the vehicle movement direction when the coincidence degree between the inclinations is low, while detecting the existence of a stationary object or a moving object that radially moves toward the vanishing point when the coincidence degree of the inclinations is high. - View Dependent Claims (11, 12, 13, 14)
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15. A method for detecting a moving object, comprising:
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inputting a camera image taken by an on-vehicle camera; processing the image to generate motion vectors of a plurality of points P in the image and calculating a vanishing point at which extended motion vectors obtained by extending the motion vectors converge, and estimating rotational components (Rx, Ry, Rz) and a translational component as vehicle movement parameters based on the motion vectors and the vanishing point; and setting an estimated distance weighting coefficient z0 that associates the road surface with camera viewing angle, calculating an estimated vehicle translational component from the average of a translational component obtained by multiplying the estimated translational component by the coefficient z0, predicting a motion vector of a given point Q in the image from the rotational components (Rx, Ry, Rz), translational component, and coefficient z0, comparing the predicted motion vector and an actual measurement motion vector, and determining the existence of a moving object when the coincidence degree between the predicted motion vector and actual measurement motion vector is low.
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16. An apparatus for detecting a moving object, comprising:
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a division/conversion unit that divides a non-linear image taken by an on-vehicle camera having a wide imaging range into a plurality of images each having a preset viewing-angle range to generate a plurality of linear projection plane images having a common camera center; a calculation unit that calculates motion vectors of the projection plane images; a determination unit that analyzes the motion vectors of the plurality of projection plane images to determine the existence of a moving object; and a display unit that displays the determination result of the moving object determination unit. - View Dependent Claims (17, 18, 19)
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20. A method for detecting a moving object, comprising:
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dividing a non-linear image taken by an on-vehicle camera having a wide imaging range into a plurality of images each having a preset viewing-angle range to generate a plurality of linear projection plane images having a common camera center; calculating motion vectors of the projection plane images; analyzing the motion vectors of the plurality of projection plane images to determine the existence of a moving object; and displaying the determination result of the moving object existence on a display unit. - View Dependent Claims (21, 22)
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Specification