Moving body recognition apparatus
First Claim
1. A moving body recognition apparatus for recognizing a movement of a moving object by positions of feature points in an image corresponding to said moving object, comprising:
- image input means for capturing images of said moving object;
feature point extraction means for extracting feature points in said images captured by said image input means;
feature point position storage means for storing known position data corresponding to said extracted feature points; and
shape/movement recognition means for calculating actual positions of said extracted feature points and a movement of said object from said known position data of four of said extracted feature points, said four extracted feature points each being in three of said images captured at any three instances in time, under a condition indicating that said four feature points do not exist on a single plane, that an axis of rotation of said object is not parallel to a direction of an orthogonal projection of said object, said rotation representing said movement between any two of said three instances in time for observation, and that said rotation is not a rotation by an angle of one hundred and eight degrees around an axis parallel to a plane on which said orthogonal projection is made.
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Abstract
A moving body recognition apparatus which recognizes a shape and movement of an object moving in relation to an image input unit by extracting feature points, e.g. a peak of the object and a boundary of color, each in said images captured at a plurality of instants in time for observation by the image input unit. The moving body recognition apparatus comprises an image input unit for capturing images of an object as a moving body having a rotation, a feature point extraction unit for extracting feature points from the images inputted by the image input unit, a feature point storage unit for storing known position data of the extracted feature points, and a shape/movement recognition unit for calculating the actual positions and movements of the feature points of the object in the images by using the known position data of the extracted feature points outputted from the feature point storage unit.
24 Citations
14 Claims
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1. A moving body recognition apparatus for recognizing a movement of a moving object by positions of feature points in an image corresponding to said moving object, comprising:
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image input means for capturing images of said moving object; feature point extraction means for extracting feature points in said images captured by said image input means; feature point position storage means for storing known position data corresponding to said extracted feature points; and shape/movement recognition means for calculating actual positions of said extracted feature points and a movement of said object from said known position data of four of said extracted feature points, said four extracted feature points each being in three of said images captured at any three instances in time, under a condition indicating that said four feature points do not exist on a single plane, that an axis of rotation of said object is not parallel to a direction of an orthogonal projection of said object, said rotation representing said movement between any two of said three instances in time for observation, and that said rotation is not a rotation by an angle of one hundred and eight degrees around an axis parallel to a plane on which said orthogonal projection is made. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A moving body recognition apparatus for recognizing a movement of a moving object by positions of feature points in images of said moving object, comprising:
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image input means for capturing images of said moving object; feature point extraction means for extracting feature points in said images captured at any three instances in time by said image input means; feature point position storage means for storing known position data of said extracted feature points; and movement recognition means for calculating a movement of said object from said known position data of four of said extracted feature points of said object each in said images captured by said image input means, under a condition indicating that said four extracted feature points do not exist on a single plane, that an axis of rotation of said object is not parallel to a direction of an orthogonal projection of said object, said rotation representing said movement between any two of said three instances in time for observation, and that said rotation is not a rotation by an angle of one hundred and eighty degrees around an axis parallel to a plane on which said orthogonal projection is made.
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Specification