APPROACHING OBJECT DETECTION DEVICE AND METHOD FOR DETECTING APPROACHING OBJECTS
First Claim
1. An approaching object detection device that detects moving objects approaching a vehicle on the basis of an image generated by an image pickup unit that captures the image of surroundings of the vehicle at certain time intervals, the approaching object detection device comprising:
- a processor; and
a memory which stores a plurality of instructions, which when executed by the processor, cause the processor to execute,detecting moving object regions that each include a moving object from the image;
obtaining a moving direction of each of the moving object regions; and
determining whether or not the moving object included in each of the moving object regions is a moving object approaching the vehicle on the basis of at least either an angle between the moving direction of each of the moving object regions in the image and a horizon in the image or a ratio of an area of a subregion in which each of the moving object regions in the image and a past moving object region including the same moving object as each of the moving object regions in a past image generated immediately before the image overlap to an area of each of the moving object regions.
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Abstract
An approaching object detection device that detects moving objects approaching a vehicle on the basis of images generated by an image pickup unit that captures images of surroundings of the vehicle at certain time intervals, the approaching object detection device includes: a processor; and a memory which stores a plurality of instructions, which when executed by the processor, cause the processor to execute, detecting moving object regions that each include a moving object from an image; obtaining a moving direction of each of the moving object regions; and determining whether or not the moving object included in each of the moving object regions is a moving object approaching the vehicle on the basis of at least either an angle between the moving direction of each of the moving object regions in the image and a horizon in the image or a ratio of an area of a subregion.
55 Citations
17 Claims
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1. An approaching object detection device that detects moving objects approaching a vehicle on the basis of an image generated by an image pickup unit that captures the image of surroundings of the vehicle at certain time intervals, the approaching object detection device comprising:
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a processor; and a memory which stores a plurality of instructions, which when executed by the processor, cause the processor to execute, detecting moving object regions that each include a moving object from the image; obtaining a moving direction of each of the moving object regions; and determining whether or not the moving object included in each of the moving object regions is a moving object approaching the vehicle on the basis of at least either an angle between the moving direction of each of the moving object regions in the image and a horizon in the image or a ratio of an area of a subregion in which each of the moving object regions in the image and a past moving object region including the same moving object as each of the moving object regions in a past image generated immediately before the image overlap to an area of each of the moving object regions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for detecting approaching objects that detects moving objects approaching a vehicle on the basis of an image generated by an image pickup unit that captures the image of surroundings of the vehicle at certain time intervals, the method comprising:
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detecting moving object regions that each include a moving object from the image; obtaining a moving direction of each of the moving object regions; and determining, by a computer processor, whether or not the moving object included in each of the moving object regions is a moving object approaching the vehicle on the basis of at least either an angle between the moving direction of each of the moving object regions in the image and a horizon in the image or a ratio of an area of a subregion in which each of the moving object regions in the image and a past moving object region including the same moving object as each of the moving object regions in a past image generated immediately before the image overlap to an area of each of the moving object regions. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A computer-readable storage medium storing a computer program for detecting approaching objects that detects moving objects approaching a vehicle on the basis of an image generated by an image pickup unit that captures the image of surroundings of the vehicle at certain time intervals, the computer program causing a computer to execute a process comprising:
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detecting moving object regions that each include a moving object from the image; obtaining a moving direction of each of the moving object regions; and determining whether or not the moving object included in each of the moving object regions is a moving object approaching the vehicle on the basis of at least either an angle between the moving direction of each of the moving object regions in the image and a horizon in the image or a ratio of an area of a subregion in which each of the moving object regions in the image and a past moving object region including the same moving object as each of the moving object regions in a past image generated immediately before the image overlap to an area of each of the moving object regions.
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Specification