INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND COMPUTER READABLE MEDIUM STORING A PROGRAM

• US 20160275359A1
• Filed: 09/30/2014
• Published: 09/22/2016
• Est. Priority Date: 12/26/2013
• Status: Abandoned Application

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: YOSHIDA, Michinori, HATO, Jumpei, ABUKAWA, Masahiro, MURAYAMA, Shu
• Application Number:
  US15/035,023
• Publication Number:
  US 20160275359A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/50 Depth or shape recovery
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: H04N 23/60 Control of cameras or camera modules

Abstract

An image extraction unit (104) extracts an image of a specific photographic object from among images of photographic objects included in a photographic image photographed by a camera (200). A distance calculation processing execution unit (105) executes a distance calculation processing in which a distance from the camera (200) to a photographic object is calculated using an image of the photographic object included in the photographic image, exclusively to the image of the specific photographic object extracted by the image extraction unit (104).

Claims

1-12. -12. (canceled)

13. An information processing apparatus comprising:

processing circuitry to;

calculate a width of a specific photographic object from among photographic objects included in a photographic image photographed by a camera using a ranging result of a sensor which operates ranging in a photographing direction of the camera, in parallel with photographing by the camera, estimate an image size of an image of the specific photographic object in the photographic image based upon the calculated width of the specific photographic object, and extract the image of the specific photographic object from the photographic image by operating an image recognition within the photographic image with the estimated image size of the specific photographic object; and

execute a distance calculation processing in which a distance from the camera to a photographic object is calculated using an image of the photographic object included in the photographic image, exclusively to the image of the specific photographic object extracted.

14. The information processing apparatus according to claim 13,

wherein the processing circuitry, when the image of the specific photographic object cannot be extracted as a result of operating the image recognition within the photographic image with the image size, operates the image recognition within the photographic image with an image size being larger than the image size and extracts the image of the specific photographic object.

15. The information processing apparatus according to claim 13,

wherein the processing circuitry executes the distance calculation processing exclusively to the image of the specific photographic object and calculates the distance from the camera to a closest point which is closest to the camera within the specific photographic object, and

further generates a three-dimensional model of the specific photographic object by a wire frame using the distance from the camera to the closest point calculated.

16. The information processing apparatus according to claim 15,

wherein the processing circuitry analyzes the image of the specific photographic object extracted and calculates a height of the specific photographic object, and

generates the three-dimensional model of the specific photographic object by the wire frame using the distance from the camera to the closest point calculated, the width of the specific photographic object calculated, and the height of the specific photographic object calculated.

17. The information processing apparatus according to claim 15,

wherein the processing circuitry further generates the three-dimensional model of the specific photographic object by the wire frame using the distance from the camera to the closest point calculated and a photographic object category ID (Identifier) which represents a category of the specific photographic object.

18. The information processing apparatus according to claim 13,

wherein the processing circuitry executes a depthmap processing as the distance calculation processing.

19. The information processing apparatus according to claim 13,

wherein the processing circuitry, as the distance calculation processing, executes the depthmap processing and a correction processing in which a result of the depthmap processing is corrected using the ranging result of the sensor which operates ranging in the photographing direction of the camera, in parallel with photographing by the camera.

20. The information processing apparatus according to claim 13,

wherein the processing circuitry extracts the image of the specific photographic object from the photographic image of the photographic object photographed by the camera mounted on a mobile body, the photographic object being located outside of the mobile body.

21. An information processing method comprising:

calculating a width of a specific photographic object from among photographic objects included in a photographic image photographed by a camera using a ranging result of a sensor which operates ranging in a photographing direction of the camera, in parallel with photographing by the camera, estimating an image size of an image of the specific photographic object in the photographic image based upon the calculated width of the specific photographic object, and extracting the image of the specific photographic object from the photographic image by operating an image recognition within the photographic image with the estimated image size of the specific photographic object; and

executing a distance calculation processing in which a distance from the camera to a photographic object is calculated using an image of the photographic object included in the photographic image, exclusively to the image of the extracted specific photographic object.

22. A non-transitory computer readable medium storing a program to cause a computer to:

calculate a width of a specific photographic object from among photographic objects included in a photographic image photographed by a camera using a ranging result of a sensor which operates ranging in a photographing direction of the camera, in parallel with photographing by the camera, estimate an image size of an image of the specific photographic object in the photographic image based upon the calculated width of the specific photographic object, and extract the image of the specific photographic object from the photographic image by operating an image recognition within the photographic image with the estimated image size of the specific photographic object; and

execute a distance calculation processing in which a distance from the camera to a photographic object is calculated using an image of the photographic object included in the photographic image, exclusively to the image of the extracted specific photographic object.