OBJECT DETECTION APPARATUS, VEHICLE-MOUNTED DEVICE CONTROL SYSTEM AND STORAGE MEDIUM OF PROGRAM OF OBJECT DETECTION
First Claim
1. An object detection apparatus, using at least one processing circuit, for detecting an object in an image capturing area based on parallax information generated from a plurality of images captured by a plurality of image capturing units, the object detection apparatus comprising;
- a parallax histogram information generator to generate vertical-direction parallax histogram information based on the parallax information, the vertical-direction parallax histogram information indicating a frequency profile of parallax values in each of vertical row areas in a captured image, the vertical row area preparable by dividing the captured image in a plurality of areas in a left-right direction; and
an object image area extraction unit to extract, among parallax values having frequency exceeding a given frequency threshold, a group of pixels having parallax values existing within proximity of a given parallax value and having a pixel-to-pixel interval in an image left-to-right direction within a given range, as an object image area that includes an object for display, based on the vertical-direction parallax histogram information.
1 Assignment
0 Petitions
Accused Products
Abstract
An object detection apparatus, using at least one processing circuit, for detecting an object in an image capturing area based on parallax information generated from a plurality of images captured by a plurality of image capturing units, includes a parallax histogram information generator to generate vertical-direction parallax histogram information indicating a frequency profile of parallax values in each of vertical row areas in a captured image based on the parallax information; and an object image area extraction unit to extract, among parallax values having frequency exceeding a given frequency threshold, a group of pixels having parallax values existing within proximity of a given parallax value and having a pixel-to-pixel interval in an image left-to-right direction within a given range as an object image area displaying an object based on the vertical-direction parallax histogram information.
-
Citations
9 Claims
-
1. An object detection apparatus, using at least one processing circuit, for detecting an object in an image capturing area based on parallax information generated from a plurality of images captured by a plurality of image capturing units, the object detection apparatus comprising;
-
a parallax histogram information generator to generate vertical-direction parallax histogram information based on the parallax information, the vertical-direction parallax histogram information indicating a frequency profile of parallax values in each of vertical row areas in a captured image, the vertical row area preparable by dividing the captured image in a plurality of areas in a left-right direction; and an object image area extraction unit to extract, among parallax values having frequency exceeding a given frequency threshold, a group of pixels having parallax values existing within proximity of a given parallax value and having a pixel-to-pixel interval in an image left-to-right direction within a given range, as an object image area that includes an object for display, based on the vertical-direction parallax histogram information. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A method of detecting an object in an image capturing area based on parallax information, the method comprising the steps of:
-
1) generating parallax information based on a plurality of captured images captured by a plurality of image capturing units (generating step of parallax information); 2) generating vertical-direction parallax histogram information indicating a frequency profile of parallax values in each of vertical row areas in a captured image based on the parallax information, the vertical row area preparable by dividing the captured image in a plurality of areas in a left-right direction (generating step of vertical-direction parallax histogram information); and 3) extracting, among parallax values having frequency exceeding a given frequency threshold, a group of pixels having parallax values existing within proximity of a given parallax value and having a pixel-to-pixel interval in an image left-to-right direction within a given range as an object image area displaying an object, based on the vertical-direction parallax histogram information (extracting step of object image area).
-
-
9. A non-transitory computer-readable storage medium storing an object detection program that, when executed by a computer having a processing circuit, causes the computer to execute a method of detecting an object in an image capturing area based on parallax information, the method comprising the steps of:
-
1) generating parallax information based on a plurality of captured images captured by a plurality of image capturing units (generating step of parallax information); 2) generating vertical-direction parallax histogram information indicating a frequency profile of parallax values in each of vertical row areas in a captured image based on the parallax information, the vertical row area preparable by dividing the captured image in a plurality of areas in a left-right direction (generating step of vertical-direction parallax histogram information); and 3) extracting, among parallax values having frequency exceeding a given frequency threshold, a group of pixels having parallax values existing within proximity of a given parallax value and having a pixel-to-pixel interval in an image left-to-right direction within a given range as an object image area displaying an object, based on the vertical-direction parallax histogram information (extracting step of object image area).
-
Specification