IMAGE BASED PEDESTRIAN SENSING APPARATUS AND METHOD
First Claim
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1. An image based pedestrian sensing apparatus comprising:
- one or more controllers including;
an image inputting unit configured to receive a front image of a vehicle;
a region of interest (ROI) setting unit configured to set an ROI corresponding to a size of an object in the image received through the image inputting unit;
a candidate extracting unit configured to extract pedestrian candidates based on motion of the object having the ROI set by the ROI setting unit; and
a pedestrian judging unit configured to compare the pedestrian candidates extracted by the candidate extracting unit with databases for each posture of a pedestrian to identify the pedestrian.
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Abstract
An image based pedestrian sensing apparatus and method that rapidly senses a pedestrian within an image by setting a region of interest (ROI) corresponding to a size of an object in a front image of a vehicle (i.e., an image taken from in front of the vehicle), extracting pedestrian candidates based on motion of the object, and sequentially comparing the extracted pedestrian candidates with pedestrian feature databases (e.g., databases for each posture of the pedestrian) according to a distance to judge the pedestrian.
12 Citations
16 Claims
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1. An image based pedestrian sensing apparatus comprising:
one or more controllers including; an image inputting unit configured to receive a front image of a vehicle; a region of interest (ROI) setting unit configured to set an ROI corresponding to a size of an object in the image received through the image inputting unit; a candidate extracting unit configured to extract pedestrian candidates based on motion of the object having the ROI set by the ROI setting unit; and a pedestrian judging unit configured to compare the pedestrian candidates extracted by the candidate extracting unit with databases for each posture of a pedestrian to identify the pedestrian. - View Dependent Claims (2, 3, 4, 5)
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6. An image based pedestrian sensing method comprising:
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receiving, by an image inputting unit within a controller, a front image of a vehicle; setting, by an ROI setting unit within the controller, an ROI corresponding to a size of an object in the received front image; extracting, by a candidate extracting unit within the controller, pedestrian candidates based on motion of the object having the set ROI; and comparing, by a pedestrian judging unit within the controller, the extracted pedestrian candidates with databases for each posture of a pedestrian to identify the pedestrian. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:
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program instructions that receive a front image of a vehicle; program instructions that set an ROI corresponding to a size of an object in the received front image; program instructions that extract pedestrian candidates based on motion of the object having the set ROI; and program instructions that compare the extracted pedestrian candidates with databases for each posture of a pedestrian to identify the pedestrian. - View Dependent Claims (13, 14, 15, 16)
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Specification