MOVING BODY POSITION ESTIMATING DEVICE, MOVING BODY POSITION ESTIMATING METHOD, AND NON-TRANSITORY RECORDING MEDIUM

• US 20160078288A1
• Filed: 09/14/2015
• Published: 03/17/2016
• Est. Priority Date: 09/16/2014
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: TAKATANI, Tsuyoshi
• Granted Patent: US 9,684,823 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 2201/12 Acquisition of 3D measurements of objects
• CPC Class Codes: G06V 40/25 Recognition of walking or running movements, e.g. gait recognition

Abstract

A moving body position estimating device includes an acquisition unit and a processor. The acquisition unit acquires information including first data relating to a first image and second data relating to a second image including a difference between the first image and the second image accompanying a movement of a moving body. The processor implements estimating, based on the information, a direction of a rotation accompanying the movement; detecting, based on the direction of the rotation, first feature points inside a first region inside the first image and second feature points inside a second region inside the first image; and determining first corresponding points inside a third region inside the second image and estimating a change of a position of the moving body based on each of the first feature points and each of the first corresponding points.

Claims

1. A moving body position estimating device, comprising:

an acquisition unit acquiring information including first data and second data, the first data relating to a first image, the second data relating to a second image, the second image including a difference between the first image and the second image accompanying a movement of a moving body; and

a processor implementing

direction estimation processing to estimate, based on the information, a direction of a rotation accompanying the movement,

detection processing to detect, based on the direction of the rotation, a plurality of first feature points inside a first region inside the first image and a plurality of second feature points inside a second region inside the first image, a first density inside the first region of the plurality of first feature points being higher than a second density inside the second region of the plurality of second feature points, and

position estimation processing to determine a plurality of first corresponding points inside a third region inside the second image and estimate a change of a position of the moving body based on each of the plurality of first feature points and each of the plurality of first corresponding points, each of the plurality of first corresponding points corresponding respectively to at least one of the plurality of first feature points.

2. The device according to claim 1, wherein

the direction of the rotation is a first direction, and

a second direction from the second region toward the first region inside the first image has a component in the reverse direction of the first direction.

3. The device according to claim 2, wherein a direction from the first region toward the third region is aligned with the second direction when the first image and the second image are overlaid.

4. The device according to claim 2, wherein the first direction is one of a left direction or a right direction, and the second direction is the other of the left direction or the right direction.

5. The device according to claim 2, wherein the first direction is one of an upward direction or a downward direction, and the second direction is the other of the upward direction or the downward direction.

6. The device according to claim 1, wherein

the second region includes a center of the first image when an angle of the rotation is not more than a determined value;

and

the first region is provided around the second region inside the first image when the angle of the rotation is not more than the determined value.

7. The device according to claim 1, wherein the processor further implements, prior to the detection processing, image subdivision processing to determine a position inside the first image of the first region and a position inside the first image of the second region.

8. The device according to claim 1, wherein the direction estimation processing includes estimating the direction of the rotation based on the first image and the second image.

9. The device according to claim 1, wherein

the information further includes information relating to an angular velocity obtained by a sensor mounted to the moving body, and

the direction estimation processing includes estimating the direction of the rotation based on the information relating to the angular velocity.

10. The device according to claim 1, wherein

the information further includes information relating to an angular acceleration output by a sensor mounted to the moving body, and

the direction estimation processing includes estimating the direction of the rotation based on the information relating to the angular acceleration.

17. The device according to claim 1, wherein

the second image further includes a fourth region corresponding to the second region, and

the position estimation processing determines a plurality of second corresponding points inside the fourth region and estimates the change of the position of the moving body based on each of the plurality of second feature points and each of the plurality of second corresponding points, each of the plurality of second corresponding points corresponding respectively to at least one of the plurality of second feature points.

18. The device according to claim 1, wherein the first image and the second image are imaged by an imaging unit mounted to the moving body.

11. A moving body position estimating device, comprising:

an acquisition unit acquiring information including first data and second data, the first data relating to a first image, the second data relating to a second image, the second image including a difference between the first image and the second image accompanying a movement of a moving body; and

a processor implementing

direction estimation processing to estimate, based on the information, a direction of a change of a position of the moving body accompanying the movement,

detection processing to detect, based on the direction of the change of the position, a plurality of first feature points inside a first region inside the first image and a plurality of second feature points inside a second region inside the first image, a first density inside the first region of the plurality of first feature points being higher than a second density inside the second region of the plurality of second feature points, and

position estimation processing to determine a plurality of first corresponding points inside a third region inside the second image and estimate the change of the position of the moving body based on each of the plurality of first feature points and each of the plurality of first corresponding points, each of the plurality of first corresponding points corresponding respectively to at least one of the plurality of first feature points.

12. The device according to claim 11, wherein

the direction of the change of the position is a frontward/rearward direction of the moving body,

the second region includes a center of the first image, and

the first region is provided around the second region inside the first image.

13. The device according to claim 12, wherein the first region and the third region overlap when the first image and the second image are overlaid.

14. The device according to claim 11, wherein the direction estimation processing includes estimating the direction of the change of the position based on the first image and the second image.

15. The device according to claim 11, wherein

the information further includes information relating to a velocity obtained by a sensor mounted to the moving body, and

the direction estimation processing includes estimating the direction of the change of the position based on the information relating to the velocity.

16. The device according to claim 11, wherein

the information further includes information relating to an acceleration obtained by a sensor mounted to the moving body, and

the direction estimation processing includes estimating the direction of the change of the position based on the information relating to the acceleration.

19. A moving body position estimating method, comprising:

acquiring information including first data and second data, the first data relating to a first image, the second data relating to a second image, the second image including a difference between the first image and the second image accompanying a movement of a moving body;

estimating, based on the information, a direction of a rotation accompanying the movement;

detecting, based on the direction of the rotation, a plurality of first feature points inside a first region inside the first image and a plurality of second feature points inside a second region inside the first image, a first density inside the first region of the plurality of first feature points being higher than a second density inside the second region of the plurality of second feature points; and

determining a plurality of first corresponding points inside a third region inside the second image and estimating a change of a position of the moving body based on each of the plurality of first feature points and each of the plurality of first corresponding points, each of the plurality of first corresponding points corresponding respectively to at least one of the plurality of first feature points.

20. A non-transitory recording medium recording a moving body position estimating program causing a computer to execute:

acquiring information including first data and second data, the first data relating to a first image, the second data relating to a second image, the second image including a difference between the first image and the second image accompanying a movement of a moving body;

estimating, based on the information, a direction of a rotation accompanying the movement;

detecting, based on the direction of the rotation, a plurality of first feature points inside a first region inside the first image and a plurality of second feature points inside a second region inside the first image, a first density inside the first region of the plurality of first feature points being higher than a second density inside the second region of the plurality of second feature points; and

determining a plurality of first corresponding points inside a third region inside the second image and estimating a change of a position of the moving body based on each of the plurality of first feature points and each of the plurality of first corresponding points, each of the plurality of first corresponding points corresponding respectively to at least one of the plurality of first feature points.