IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD
First Claim
1. An image processing device comprising:
- a processor; and
a memory which stores a plurality of instructions that cause the processor to execute,capturing an image including vehicle side information;
dividing the image into a plurality of areas, and defining a first divided area image including a center of a side end of the image and a second divided area image not including the center of the side end of the image;
smoothing the first divided area image using a first filter, or smoothing the second divided area image using a second filter having a greater coefficient than that of the first filter;
extracting a plurality of feature points from the first divided area image or the second divided area image;
calculating an optical flow from the plurality of feature points of the first divided area image or the second divided area image having different acquisition time; and
determining an approaching object approaching the vehicle on the basis of the optical flow.
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Accused Products
Abstract
An image processing device includes a processor; and a memory which stores a plurality of instructions that cause the processor to execute, capturing an image including vehicle side information, dividing the image into a plurality of areas, and defining a first divided area image including a center of a side end of the image and a second divided area image not including the center of the side end of the image; smoothing the first divided area image using a first filter, or smoothing the second divided area image using a second filter having a greater coefficient than that of the first filter; extracting a plurality of feature points from the first divided area image or the second divided area image; calculating an optical flow from the plurality of feature points of the first divided area image or the second divided area image.
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Citations
18 Claims
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1. An image processing device comprising:
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a processor; and a memory which stores a plurality of instructions that cause the processor to execute, capturing an image including vehicle side information; dividing the image into a plurality of areas, and defining a first divided area image including a center of a side end of the image and a second divided area image not including the center of the side end of the image; smoothing the first divided area image using a first filter, or smoothing the second divided area image using a second filter having a greater coefficient than that of the first filter; extracting a plurality of feature points from the first divided area image or the second divided area image; calculating an optical flow from the plurality of feature points of the first divided area image or the second divided area image having different acquisition time; and determining an approaching object approaching the vehicle on the basis of the optical flow. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An image processing method comprising:
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capturing an image including vehicle side information; dividing the image into a plurality of areas, and defining a first divided area image including a center of a side end of the image and a second divided area image not including the center of the side end of the image; smoothing the first divided area image using a first filter, or smoothing the second divided area image using a second filter having a greater coefficient than that of the first filter; extracting a plurality of feature points from the first divided area image or the second divided area image; calculating, by a computer processor, an optical flow from the plurality of feature points of the first divided area image or the second divided area image having different acquisition time; and determining an approaching object approaching the vehicle on the basis of the optical flow. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A computer-readable storage medium storing an image processing program that causes a computer to execute a process comprising:
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capturing an image including vehicle side information; dividing the image into a plurality of areas, and defining a first divided area image including a center of a side end of the image and a second divided area image not including the center of the side end of the image; smoothing the first divided area image using a first filter, or smoothing the second divided area image using a second filter having a greater coefficient than that of the first filter; extracting a plurality of feature points from the first divided area image or the second divided area image; calculating an optical flow from the plurality of feature points of the first divided area image or the second divided area image having different acquisition time; and determining an approaching object approaching the vehicle on the basis of the optical flow.
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Specification