Obstacle detection apparatus and method
First Claim
1. An obstacle detection apparatus, comprising;
- a first camera inputting a first image including a predetermined plane and a second camera inputting a second image including the predetermined plane;
an image memory configured to sequentially store the first image and the second image;
an image conversion unit configured to project a coordinate of each pixel of the predetermined plane from the first image onto a corresponding coordinate of a corresponding pixel of the second image, the projected first image being a third image;
a feature conversion unit configured to emphasize a plurality of edges included in the first image, the second image and the third image, wherein the edge-emphasized first image, the edge-emphasized second image and the edge-emphasized third image respectively constitute a first feature conversion image, a second feature conversion image and a third feature conversion image;
a similarity calculation unit configured to set a plurality of areas of which bases are different pixel lines along a horizontal direction on the predetermined plane of the second feature conversion image;
to determine a corresponding area of the first feature conversion image by inversely projecting each of the areas of the second feature conversion image onto the first feature conversion image, the inverse-projection representing an inverse-conversion of the projection by said image conversion unit;
to calculate a first similarity between each of the areas of the second feature conversion image and the corresponding area of the first feature conversion image; and
to calculate a second similarity between each of the areas of the second feature conversion image and a corresponding one of the areas of the third feature conversion image; and
an obstacle decision unit configured to detect an obstacle based on the first similarity and the second similarity.
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Accused Products
Abstract
A stereo camera inputs a first image and a second image each including a predetermined plane. An image conversion unit projects each pixel of the predetermined plane from the first image onto a corresponding pixel of the second image as a third image. A feature conversion unit respectively emphasizes edges included in the first image, the second image and third image. A similarity calculation unit sets a plurality of areas on the predetermined plane from the second feature conversion image, calculates a first similarity between each area of the second feature conversion image and a corresponding area of the first feature conversion image, and calculates a second similarity between each area of the second feature conversion image and a corresponding area of the third feature conversion image. An obstacle decision unit detects an obstacle based on the first similarity and the second similarity.
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Citations
18 Claims
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1. An obstacle detection apparatus, comprising;
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a first camera inputting a first image including a predetermined plane and a second camera inputting a second image including the predetermined plane; an image memory configured to sequentially store the first image and the second image; an image conversion unit configured to project a coordinate of each pixel of the predetermined plane from the first image onto a corresponding coordinate of a corresponding pixel of the second image, the projected first image being a third image; a feature conversion unit configured to emphasize a plurality of edges included in the first image, the second image and the third image, wherein the edge-emphasized first image, the edge-emphasized second image and the edge-emphasized third image respectively constitute a first feature conversion image, a second feature conversion image and a third feature conversion image; a similarity calculation unit configured to set a plurality of areas of which bases are different pixel lines along a horizontal direction on the predetermined plane of the second feature conversion image;
to determine a corresponding area of the first feature conversion image by inversely projecting each of the areas of the second feature conversion image onto the first feature conversion image, the inverse-projection representing an inverse-conversion of the projection by said image conversion unit;
to calculate a first similarity between each of the areas of the second feature conversion image and the corresponding area of the first feature conversion image; and
to calculate a second similarity between each of the areas of the second feature conversion image and a corresponding one of the areas of the third feature conversion image; andan obstacle decision unit configured to detect an obstacle based on the first similarity and the second similarity. - View Dependent Claims (2, 3, 5, 6, 7, 10, 11, 12, 13, 14)
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4. An obstacle detection apparatus, comprising:
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a first camera inputting a first image including a predetermined plane and a second camera inputting a second image including the predetermined plane; an image memory configured to sequentially store the first image and the second image; a feature conversion unit configured to emphasize a plurality of edges included in the first image and the second image, wherein the edge-emphasized first image and the edge-emphasized second image respectively constitute a first feature conversion image and a second feature conversion image; an image conversion unit configured to project a coordinate of each pixel of the predetermined plane from the first feature conversion image onto a corresponding coordinate of a corresponding pixel of the second feature conversion image, the projected first feature conversion image being a third feature conversion image; a similarity calculation unit configured to set a plurality of areas of which bases are different pixel lines along a horizontal direction on the predetermined plane of the second feature conversion image;
to determine a corresponding area of the first feature conversion image by inversely projecting each of the areas of the second feature conversion image onto the first feature conversion image, the inverse-projection representing an inverse-conversion of the projection by said image conversion unit;
to calculate a first similarity between each of the areas of the second feature conversion image and the corresponding area of the first feature conversion image; and
to calculate a second similarity between each of the areas of the second feature conversion image and a corresponding one of the areas of the third feature conversion image; andan obstacle decision unit configured to detect an obstacle based on the first similarity and the second similarity. - View Dependent Claims (8, 9)
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15. A method for detecting an obstacle, comprising:
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inputting a first image including a predetermined plane through a first camera; inputting a second image including the predetermined plane through a second camera, projecting a coordinate of each pixel of the predetermined plane from the first image onto a corresponding coordinate of a corresponding pixel of the second image, the projected first image being a third image; emphasizing a plurality of edges included in the first image, the second image and the third image;
wherein the edge-emphasized first image, the edge-emphasized second image and the edge-emphasized third image respectively constitute a first feature conversion image, a second feature conversion image and a third feature conversion image;setting a plurality of areas of which bases are different pixel lines along a horizontal direction on the predetermined plane of the second feature conversion image, determining a corresponding area of the first feature conversion image by inversely projecting each of the areas of the second feature conversion image onto the first feature conversion image, the inverse-projection representing an inverse-conversion of the projection; calculating a first similarity between each of the areas of the second feature conversion image and the corresponding area of the first feature conversion image; calculating a second similarity between each of the areas of the second feature conversion image and a corresponding one of the areas of the third feature conversion image; and detecting an obstacle based on the first similarity and the second similarity.
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16. A method for detecting an obstacle, comprising:
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inputting a first image including a predetermined plane through a first camera; inputting a second image including the predetermined plane through a second camera; emphasizing a plurality of edges included in the first image and the second image, wherein the edge-emphasized first image and the edge-emphasized second image respectively constitute a first feature conversion image and a second feature conversion image; projecting a coordinate of each pixel of the predetermined plane from the first feature conversion image onto a corresponding coordinate of a corresponding pixel of the second feature conversion image, the projected first feature conversion image being a third feature conversion image; setting a plurality of areas of which bases are different pixel lines along a horizontal direction on the predetermined plane of the second feature conversion image; determining a corresponding area of the first feature conversion image by inversely projecting each of the areas of the second feature conversion image onto the first feature conversion image, the inverse-projection representing an inverse-conversion of the projection; calculating a first similarity between each of the areas of the second feature conversion image and the corresponding area of the first feature conversion image; calculating a second similarity between each of the areas of the second feature conversion image and a corresponding one of the areas of the third feature conversion image; and detecting an obstacle based on the first similarity and the second similarity.
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17. A computer program product, comprising:
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a computer readable program code embodied in said product for causing a computer to detect an obstacle, said computer readable program code comprising; a first program code to input a first image including a predetermined plane through a first camera and to input a second image including the predetermined plane through a second camera; a second program code to project a coordinate of each pixel of the predetermined plane from the first image onto a corresponding coordinate of a corresponding pixel of the second image, the projected first image being a third image; a third program code to emphasize a plurality of edges included in the first image, the second image and the third image, wherein the edge-emphasized first image, the edge-emphasized second image and the edge-emphasized third image respectively constitute a first feature conversion image, a second feature conversion image and a third feature conversion image; a fourth program code to set a plurality of areas of which bases are different pixel lines along a horizontal direction on the predetermined plane of the second feature conversion imagel; a fifth program code to determine a corresponding area of the first feature conversion image by inversely projecting each of the areas of the second feature conversion image onto the first feature conversion image, the inverse-projection representing an inverse-conversion of the projection; a sixth program code to calculate a first similarity between each of the areas of the second feature conversion image and the corresponding area of the first feature conversion image; a seventh program code to calculate a second similarity between each of the areas of the second feature conversion image and a corresponding one of the areas of the third feature conversion image; and an eighth program code to detect an obstacle based on the first similarity and the second similarity.
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18. A computer program product, comprising:
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a computer readable program code embodied in said product for causing a computer to detect an obstacle, said computer readable program code comprising; a first program code to input a first image including a predetermined plane through a first camera and to input a second image including the predetermined plane through a second camera; a second program code to emphasize a plurality of edges included in the first image and the second image, wherein the edge-emphasized first image and the edge-emphasized second image respectively constitute a first feature conversion image and a second feature conversion image; a third program code to project a coordinate of each pixel of the predetermined plane from the first feature conversion image onto a corresponding coordinate of a corresponding pixel of the second feature conversion image, the projected first feature conversion image being a third feature conversion image; a fourth program code to set a plurality of areas of which bases are different pixel lines along a horizontal direction on the predetermined plane of the second feature conversion image; a fifth program code to determine a corresponding area of the first feature conversion image by inversely projecting each of the areas of the second feature conversion image onto the first feature conversion image, the inverse-projection representing an inverse-conversion of the projection; a sixth program code to calculate a first similarity between each of the areas of the second feature conversion image and the corresponding area of the first feature conversion image; a seventh program code to calculate a second similarity between each of the areas of the second feature conversion image and a corresponding one of the areas of the third feature conversion image; and an eighth program code to detect an obstacle based on the first similarity and the second similarity.
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Specification