Obstacle detection device and method therefor
First Claim
1. An obstacle detection device in which at least two image pick-up devices each pick up an image of a preset common detection region, and which determines whether an obstacle is present or not in the detection region from the stereo images picked up using the image pick-up devices, the device comprising:
- image input means for receiving the image from each of the image pick-up devices;
correspondence detection means for deriving a plurality of pairs of corresponding points in the detection regions of the received two stereo images;
slope degree calculation means for calculating a slope degree corresponding to a slope angle between a basic plane which is parallel to optical axes of the image pick-up devices and a detection plane including the derived plurality of corresponding points in the stereo images; and
result determination means for determining as there being an obstacle when the slope degree of the detection plane is larger than a predetermined value.
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Accused Products
Abstract
Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.
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Citations
17 Claims
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1. An obstacle detection device in which at least two image pick-up devices each pick up an image of a preset common detection region, and which determines whether an obstacle is present or not in the detection region from the stereo images picked up using the image pick-up devices, the device comprising:
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image input means for receiving the image from each of the image pick-up devices;
correspondence detection means for deriving a plurality of pairs of corresponding points in the detection regions of the received two stereo images;
slope degree calculation means for calculating a slope degree corresponding to a slope angle between a basic plane which is parallel to optical axes of the image pick-up devices and a detection plane including the derived plurality of corresponding points in the stereo images; and
result determination means for determining as there being an obstacle when the slope degree of the detection plane is larger than a predetermined value. - View Dependent Claims (2, 3, 4, 5)
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6. An obstacle detection method in which at least two image pick-up devices each pick up an image of a preset common detection region, and which determines whether an obstacles is present or not in the detection region from the stereo images picked up using the image pick-up devices, the method comprising:
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an image receiving step of receiving the image from each of the image pick-up devices;
a correlation detecting step of deriving a plurality of pairs of corresponding points in the detection regions of the two stereo images;
a slope degree calculating step of calculating a slope degree corresponding to a slope angle between a basic plane which is parallel to optical axes of the image pickup devices and a detection plane including the derived plurality of corresponding points in the stereo images; and
a result determining step of determining as there being an obstacle when the slope degree of the detection plane is larger than a predetermined value. - View Dependent Claims (7, 8, 9, 10)
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11. A program for realizing, by computer execution, an obstacle detection method in which at least two image pick-up devices each pick up an image of a preset common detection region, and a determination is made from stereo images picked up using the image pick-up devices whether or not the detection region includes an obstacle, the program comprising:
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an image input function for receiving the stereo images from the image pick-up devices;
a correspondence detection function for deriving a plurality of pairs of corresponding points in the detection regions of the received stereo images;
a slope degree calculation function for calculating a slope degree corresponding to a slope angle between a basic plane which is parallel to optical axes of the image pick-up devices and a detection plane including the derived plurality of corresponding points in the stereo images; and
a result determination function for determining as there being an obstacle when the slope degree of the detection plane is larger than a predetermined value. - View Dependent Claims (12, 13, 14, 15)
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16. An obstacle detection device in which at least two image pick-up devices each pick up an image of a preset common detection region, and a determination is made from stereo images picked up using the image pick-up devices whether or not the detection region includes an obstacle, the device comprising:
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an image input section for receiving the stereo images from the image pick-up devices;
a correspondence detection section for deriving a plurality of pairs of corresponding points in the detection regions of the received stereo images;
a slope degree calculation section for calculating a slope degree corresponding to a slope angle between a basic plane which is parallel to optical axes of the image pick-up devices and a detection plane including the derived plurality of corresponding points in the stereo images; and
a result determination section for determining as there being an obstacle when the slope degree of the detection plane is larger than a predetermined value.
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17. A recording medium having recorded a program for realizing, by computer execution, an obstacle detection method in which at least two image pick-up devices each pick up an image of a preset common detection region, and a determination is made from stereo images picked up using the image pick-up devices whether or not the detection region includes an obstacle, the program comprising:
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an image input function for receiving the stereo images from the image pick-up devices;
a correspondence detection function for deriving a plurality of pairs of corresponding points in the detection regions of the received stereo images;
a slope degree calculation function for calculating a slope degree corresponding to a slope angle between a basic plane which is parallel to optical axes of the image pick-up devices and a detection plane including the derived plurality of corresponding points in the stereo images; and
a result determination function for determining as there being an obstacle when the slope degree of the detection plane is larger than a predetermined value.
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Specification