VEHICLE DETECTION APPARATUS
First Claim
1. A vehicle detection apparatus, comprising:
- a position detection unit that detects position data including a distance of each pixel in an image captured by an imaging unit;
an integration processing unit that extracts the pixels having a brightness equal to or higher than predetermined brightness on the image and, if the extracted pixels are adjacent to each other on the image, integrates the pixels as a same pixel region;
a lamp candidate extraction unit that extracts the pixel region that may correspond to a tail lamp of a vehicle from among the pixel regions integrated by the integration processing unit as a lamp candidate based on the position data detected by the position detection unit; and
a grouping unit that groups position data detected by the position detection unit, determines whether to regroup the generated groups containing the position data belonging to the lamp candidate extracted by the lamp candidate extraction unit, after regrouping the groups determined to be capable of being regrouped, determines whether to regroup all the groups, and then regroups the groups determined to be capable of being regrouped, whereinupon regrouping processing by the grouping unit, a threshold about the position data used for the regrouping of the groups containing the position data belonging to the lamp candidate is set easier for the regrouping than a threshold about the position data for the subsequent regrouping of all the groups.
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Abstract
A vehicle detection apparatus includes a lamp candidate extraction unit that extracts a pixel region that may correspond to a tail lamp of a vehicle from pixel regions that an integration processing unit creates by extracting and integrating pixels of an image as a lamp candidate and a grouping unit that regroups groups containing the lamp candidate of the groups generated by grouping position data detected by a position detection unit and then regroups all groups. In the regrouping processing, a threshold used for regrouping groups containing the lamp candidate is set easier for regrouping than a threshold used for subsequently regrouping all groups.
17 Citations
14 Claims
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1. A vehicle detection apparatus, comprising:
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a position detection unit that detects position data including a distance of each pixel in an image captured by an imaging unit; an integration processing unit that extracts the pixels having a brightness equal to or higher than predetermined brightness on the image and, if the extracted pixels are adjacent to each other on the image, integrates the pixels as a same pixel region; a lamp candidate extraction unit that extracts the pixel region that may correspond to a tail lamp of a vehicle from among the pixel regions integrated by the integration processing unit as a lamp candidate based on the position data detected by the position detection unit; and a grouping unit that groups position data detected by the position detection unit, determines whether to regroup the generated groups containing the position data belonging to the lamp candidate extracted by the lamp candidate extraction unit, after regrouping the groups determined to be capable of being regrouped, determines whether to regroup all the groups, and then regroups the groups determined to be capable of being regrouped, wherein upon regrouping processing by the grouping unit, a threshold about the position data used for the regrouping of the groups containing the position data belonging to the lamp candidate is set easier for the regrouping than a threshold about the position data for the subsequent regrouping of all the groups. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification