Moving object detecting system

• US 5,103,305 A
• Filed: 09/26/1990
• Issued: 04/07/1992
• Est. Priority Date: 09/27/1989
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Watanabe, Mutsumi
• Primary Examiner(s): Groody, James J.
• Assistant Examiner(s): Burgess, Glenton B.
• Application Number:
  US07/589,782
• Time in Patent Office: 559 Days
• Field of Search: 358/105, 358/136, 358/108, 358/125, 358/103, 901/47, 901/46
• US Class Current: 382/236
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments

Abstract

A moving object detecting system includes an image acquiring section, a feature extracting section, a background detecting section, a prediction parameter calculating section, a region estimating section, and a moving object determining section. The image acquiring section has a mobile imaging system and acquires image frames sequentially obtained upon movement of the imaging system. The feature extracting section extracts features of the acquired image frames. The background feature detecting section detects a background feature from the features. The prediction parameter calculating section obtains prediction parameters for predicting a motion of the background region upon movement of the imaging system in accordance with a positional relationship between the correlated background features. The region estimating section estimates a region where features detected from image frames obtained by the mobile imaging system may have been present in an image frame of the immediately preceding frame by using the prediction parameters. The moving object determining section determines whether a feature corresponding to the given feature is present in the estimation region, thereby checking the presence/absence of the moving object.

Claims

1. A moving object detecting system comprising:

image acquiring means, having an imaging system, for acquiring image frames sequentially obtained by said imaging system;

feature extracting means for extracting features of each image frame acquired by said image acquiring means;

background feature detecting means for detecting background features belonging to a background region of the image frame from the features extracted by said feature extracting means;

prediction parameter calculating means for obtaining prediction parameters for predicting a motion of the background region in the image frame upon movement of said imaging system in accordance with a positional relationship between the correlated background features between a plurality of image frames on the basis of the background features detected by said background feature detecting means;

region estimating means for estimating a region of a given feature corresponding to the feature of an image frame of an immediately preceding frame by using the prediction parameters obtained by said prediction parameter calculating means when the given feature detected from the image frame obtained by said imaging system is assumed as a feature belonging to a background; and

moving object determining means for determining whether a feature corresponding to the given feature is present in the estimation region obtained by said region estimating means.

2. A system according to claim 1, wherein said imaging system includes a television camera.

3. A system according to claim 1, wherein said imaging system is mounted on a moving unit.

4. A system according to claim 3, wherein said image acquiring means comprises means for acquiring image frames sequentially obtained with movement of said imaging system.

5. A system according to claim 1, wherein said feature extracting means includes means for calculating spatial differential values of image information in a plurality of directions and extracting portions having larger spatial differential values than a predetermined value as features.

6. A system according to claim 1, wherein said background feature detecting means includes means for detecting the background features belonging to a background region from the features of the plurality of image frames.

7. A system according to claim 1, wherein said background feature detecting means includes means for displaying an image, means for designating the background region in the image displayed by said image displaying means in accordance with an operator'"'"'s operation, and means for detecting the features belonging to the background region designated by said designating means as the background features.

8. A system according to claim 1, wherein said prediction parameter calculating means includes means for calculating the prediction parameter on the basis of a plurality of image frames at the start of movement of said imaging system.

9. A system according to claim 1, wherein said prediction parameter calculating means includes means for determining whether features are correlated to each other on the basis of a similarity between image patterns near the given feature.

10. A system according to claim 1, wherein said prediction parameter calculating means includes means for displaying an image, means for designating correlated features in a plurality of image frames displayed by said image displaying means, and means for detecting the features of the plurality of image frames designated by said designating means as the correlated features.

11. A system according to claim 1, wherein said region estimating means includes means for estimating the region as a line region.

12. A system according to claim 1, wherein said moving object determining means includes means for determining that features for which correlated features are not present in the region are defined as new features.

13. A system according to claim 12, wherein said moving object determining means includes means for determining whether features belong to the moving object on the basis of the correlation of the new features between a plurality of image frames.

14. A method of detecting a moving object, comprising:

the image acquiring step of causing an imaging system to sequentially obtain image frames and acquiring the image frames;

the feature extracting step of extracting features of each acquired image frame;

the background feature detecting step of detecting background features belonging to a background region of the image frame from the extracted features;

the prediction parameter calculating step of obtaining prediction parameters for predicting a motion of the background region in the image frame upon movement of said imaging system in accordance with a positional relationship between the correlated background features between a plurality of image frames on the basis of the background features;

the region estimating step of estimating a region of a given feature corresponding to the feature of an image frame of an immediately preceding frame by using the prediction parameters when the given feature detected from the image frame obtained by said imaging system is assumed as a feature belonging to a background; and

the moving object determining step of determining whether a feature corresponding to the given feature is present in the estimation region.