ARRIVAL TIME ESTIMATION DEVICE, ARRIVAL TIME ESTIMATION METHOD, ARRIVAL TIME ESTIMATION PROGRAM, AND INFORMATION PROVIDING APPARATUS

• US 20130142388A1
• Filed: 11/01/2012
• Published: 06/06/2013
• Est. Priority Date: 11/02/2011
• Status: Abandoned Application

• Current Assignee: Honda Elesys Co., Ltd. (Nidec Corporation)
• Original Assignee: Honda Elesys Co., Ltd. (Nidec Corporation)
• Inventors: AZUMA, Takahiro
• Application Number:
  US13/666,707
• Publication Number:
  US 20130142388A1
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G06F 18/00 Pattern recognition
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

An arrival time estimation device includes an image input unit configured to input an image signal to each frame, an object detecting unit configured to detect an object indicated by the image signal input through the image input unit, and an arrival time calculating unit configured to calculate a rotation matrix indicating rotation of an optical axis of an imaging device that captures the image signal based on a direction vector indicating a direction to the object detected by the object detecting unit, to calculate a change in a distance to the object based on a vector obtained by multiplying a past direction vector by the calculated rotation matrix and a current direction vector, and to calculate an arrival time to the object based on the calculated distance change.

Claims

1. An arrival time estimation device comprising:

an image input unit configured to input an image signal to each frame;

an object detecting unit configured to detect an object indicated by the image signal input through the image input unit; and

an arrival time calculating unit configured to calculate a rotation matrix indicating rotation of an optical axis of an imaging device that captures the image signal based on a direction vector indicating a direction to the object detected by the object detecting unit, to calculate a change in a distance to the object based on a vector obtained by multiplying a past direction vector by the calculated rotation matrix and a current direction vector, and to calculate an arrival time to the object based on the calculated distance change.

2. The arrival time estimation device according to claim 1, further comprising:

a feature point extracting unit configured to extract a feature point on the object detected by the object detecting unit from the image signal input through the image input unit,

wherein the arrival time calculating unit calculates the arrival time using the direction of the feature point extracted by the feature point extracting unit as the direction to the object.

3. An information providing apparatus comprising:

an image input unit configured to input an image signal to each frame;

an object detecting unit configured to detect an object indicated by the image signal input through the image input unit;

an arrival time calculating unit configured to calculate a rotation matrix indicating rotation of an optical axis of an imaging device that captures the image signal based on a direction vector indicating a direction to the object detected by the object detecting unit, to calculate a change in a distance to the object based on a vector obtained by multiplying a past direction vector by the calculated rotation matrix and a current direction vector, and to calculate an arrival time to the object based on the calculated distance change; and

an output determining unit configured to determine whether to output information indicating arrival at the object detected by the object detecting unit based on an arrival time calculated by the arrival time calculating unit.

4. An arrival time estimation method in an arrival time estimation device, the method comprising:

receiving an input of an image signal for each frame, by the arrival time estimation device;

detecting an object indicated by the image signal input through the image input unit, by the arrival time estimation device; and

calculating a rotation matrix indicating rotation of an optical axis of an imaging device that captures the image signal based on a direction vector indicating a direction to the detected object, calculating a change in a distance to the object based on a vector obtained by multiplying a past direction vector by the calculated rotation matrix and a current direction vector, and calculating an arrival time to the object based on the calculated distance change, by the arrival time estimation device.

5. An arrival time estimation program that causes a computer of an arrival time estimation device to execute a routine comprising:

receiving an input of an image signal for each frame;

detecting an object indicated by the image signal input through the image input unit; and

calculating a rotation matrix indicating rotation of an optical axis of an imaging device that captures the image signal based on a direction vector indicating a direction to the detected object, calculating a change in a distance to the object based on a vector obtained by multiplying a past direction vector by the calculated rotation matrix and a current direction vector, and calculating an arrival time to the object based on the calculated distance change.