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 three of said extracted feature points forming a right angle of said object each in said images captured at any two instances in time from a direction perpendicular to an axis of rotation of said object moving on a single plane and said object having a rotation, two positions at said two instances of any one of said three feature points being on a plane parallel to said direction perpendicular to said axis of rotation.
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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.
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Citations
19 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 three of said extracted feature points forming a right angle of said object each in said images captured at any two instances in time from a direction perpendicular to an axis of rotation of said object moving on a single plane and said object having a rotation, two positions at said two instances of any one of said three feature points being on a plane parallel to said direction perpendicular to said axis of rotation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. 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 from a direction perpendicular to an axis of rotation of said object moving on a single plane and said object having a rotation; feature point extraction means for extracting three feature points in said images captured at two instances in time by said image input means, two positions at said two instances of any one of said three feature points being on a plane parallel to said direction perpendicular to said axis of rotation; feature point position storage means for storing known position data of said extracted three feature points; and movement recognition means for calculating a movement of said object from said known position data of said extracted three feature points forming a right angle of said object each in said images captured by said image input means.
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Specification