Object discriminating apparatus and method therefor

• US 5,020,114 A
• Filed: 08/17/1988
• Issued: 05/28/1991
• Est. Priority Date: 08/17/1987
• Status: Expired due to Fees

• Current Assignee: Toshiba Corporation
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Konda, Takashi, Fujioka, Arisa
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US07/233,128
• Time in Patent Office: 1,014 Days
• Field of Search: 382/1, 382/44, 382/28, 356/379
• US Class Current: 382/285
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06V 10/32 Normalisation of the pattern dimensions
• CPC Class Codes: G06V 10/42 Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

An object sensor outputs an obstacle detection signal in response to passing of an obstacle. A central control unit reads a 2-dimensional image from an imaging unit in response to the obstacle detection signal. A detection area is obtained by subtracting a background image prestored in a memory from the input 2-dimensional image. The detected image on a 2-dimensional plane is transformed into image data in a 3-dimensional space. The CCU computes the projection area of the image data on an arbitrary plane in the 3-dimensional space. The object is discriminated by comparing the computed projection area with the projection area based on the reference value of the object prestored in the memory.

Claims

1. An object determining apparatus comprising:

image capturing means for capturing an image;

object detecting means for detecting an object from the image captured by said capturing means;

means for subjecting those points on the image of the object detected by said object detecting means, which have maximum and minimum values at least in x- and y-directions, to a reverse perspective transformation into a given plane in a 3-dimensional space;

means for calculating, on the basis of a ratio of an area defined by four points on the image to an area defined by four points after the reverse perspective transformation, a cross-sectional area of the object in a given plane after the reverse perspective transformation, from the area on the image; and

means for comparing a value of the area calculated by said calculating means with a predetermined area value registered in advance, thereby determining the object.

3. An apparatus according to claim 1, wherein said area computing means transforms 2-dimensional plane data in an image area of the object detected by said object detecting means into 3-dimensional space data according to the following equations;

##EQU5## (where X_e -y_e - z_e is an eye coordinate system, x*_e - y*_e is a coordinate system prior to transformation, and x*_e - y*_e - z*_e - ω

*_e is a homogeneous coordinate system), obtains minimum and maximum y*_e values, and minimum and maximum x*_e values in the extracted image area, obtains area I*_e of a rectangle in an image plane having points A'"'"', B'"'"', C'"'"', and D'"'"' as vertexes which are obtained by the following equation;

##EQU6## (where point A having the minimum y*_e value is set as A =(a₁, a₂), point B having the maxim x*_e value is set as B =(b₁, b₂), point C having the maximum y*_e value is set as C =(c₁, c₂), and point D having the minimum x*_e value is set as D =(d₁, d₂), and a point (a₁, a₂ -1) is set as A'"'"'=(x*_e1, y*_e1), a point (b₁ +1, b₂) is set as B'"'"' =(x*_e2, y*_e2), a point (c₁, c₂ +1) is set as C'"'"' =(x*_e3, y*_e3), and a point (d₁ -1, d₂) is set as D'"'"'=(x*_e4, y*_e4)), obtains area I of a rectangle having points ω

₁, ω

₂, ω

₃, and ω

₄ as vertexes using the following equation each point of A'"'"', B'"'"', C'"'"', and D'"'"' projected on an arbitrary plane of a 3-dimensional space are respectively set to be ω

₁ (u₁, v₁), ω

₂ (u₂, v₂), ω

₃ (u₃, v₃), and ω

₄ (u₄, v₄);

##EQU7## and calculates a projected area of the detected object on the arbitrary plane of the 3-dimensional space using the following equations;

space="preserve" listing-type="equation">S=S*.sub.e ·

(I/I*.sub.e) (6)

where S*_e is a number of pixels of an extracted image.

4. An apparatus according to claim 1, wherein said object discriminating means comprises reference area value storing means for storing a reference value of an object to be discriminated, and discriminates the object by comparing the area obtained by said area computing means with the reference value read out from said reference area value storing means.

2. A method of determining an object, comprising the steps of:

capturing an image;

detecting an object from the captured image;

subjecting those points on the image of the detected object, which have maximum and minimum values at least in x- and y-directions, to a reverse perspective transformation into a given plane in a 3-dimensional space;

calculating, on the basis of a ratio of an area defined by four points on the image to an area defined by four points after the reverse perspective transformation, a cross-sectional area of the object in a given plane after the reverse perspective transformation, from the area on the image; and

comparing a value of the calculated area with a predetermined area value registered in advance, thereby determining the object.

5. A method according to claim 2, wherein the step of detecting the object comprises the steps of:

prestoring a background image, which is an image before the object is captured, in a memory; and

detecting existence of the object using a sensor, capturing an image including the object in response to an object detection signal from said sensor, and detecting the object by subtracting the background image prestored in said memory from the captured image.

6. A method according to claim 2, wherein the step of computing the area comprises the steps of transforming 2-dimensional plane data in an image area of the object detected by said object detecting means into 3-dimensional space data according to the following equations:

##EQU8## (wherein x_e - y_e z_e is an eye coordinate system, x*_e - y*_e is a coordinate system prior to transformation, and x*_e - y*_e - z*_e - ω

*_e is a homogeneous coordinate system), obtaining minimum and maximum y*_e values, and minimum and maximum x*_e values in the extracted image area, obtaining area I*_e of a rectangle in an image plane having points A'"'"', B'"'"', C'"'"', and D'"'"' as vertexes which are obtained by the following equation;

##EQU9## (where point A having the minimum y*_e value is set as A =(a₁, a₂), point B having the maximum x*_e value is set as B =(b₁, b₂), point C having the maximum y*_e value is set as C =(c₁, c₂), and point D having the minimum x*_e value is set as D =(d₁, d₂), and a point (a₁, a₂ -1) is set as A'"'"' =(x*_e1, y*_e1), a point (b₁ +1, b₂) is set as B'"'"' =(x*_e2, y*_e2), a point (c₁, c₂ +1) is set as C'"'"' =(x*_e3, y*_e3), and a point (d₁ -1, d₂) is set as D'"'"' =(x*₃₄, y*_e4)), obtaining area I of a rectangle having points ω

₁, ω

₂, ω

₃, and ω

₄ as vertexes using the following equation when each point of A'"'"', B'"'"', C'"'"', and D'"'"' projected on an arbitrary plane of a 3-dimensional space are respectively set to be ω

₁ (u₁, v₁), ω

₂ (u₂, v₂), ω

₃ (u₃, v₃), and ω

₄ (u₄, v₄);

##EQU10## and calculating a projected area of the detected object on the arbitrary plane of the 3-dimensional space using the following equation;

space="preserve" listing-type="equation">S=S*.sub.e ·

(I/I*.sub.e) (6)

where S*_e is a number of pixels of an extracted image.

7. A method according to claim 2, wherein the step of discriminating the object comprises the steps of prestoring a reference value of the object to be discriminated in a reference area value memory, and comparing the area obtained by the step of computing the area with the reference value read out from said reference area value memory.